[paparazzi-commits] [paparazzi/paparazzi] 9a0bee: [rotorcraft] ahrs dt: only calc if USE_AUTO_AHRS_F...

[GitHub]

  Branch: refs/heads/propagate_dt
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 9a0bee8be81f6f63f8f1fa9e7371a564fb7335f4
      
https://github.com/paparazzi/paparazzi/commit/9a0bee8be81f6f63f8f1fa9e7371a564fb7335f4
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c

  Log Message:
  -----------
  [rotorcraft] ahrs dt: only calc if USE_AUTO_AHRS_FREQ or 
!defined(AHRS_PROPAGATE_FREQUENCY)


  Commit: df023584f9ce1e3a78576d65e3ab9b05d1ec83f8
      
https://github.com/paparazzi/paparazzi/commit/df023584f9ce1e3a78576d65e3ab9b05d1ec83f8
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  [fixedwing] remove reduced propagation rate stuff

Also calculate dt if USE_AUTO_AHRS_FREQ or !defined(AHRS_PROPAGATE_FREQUENCY)


  Commit: 38873ac4fc0a796dcb38488528ffc90092d80b79
      
https://github.com/paparazzi/paparazzi/commit/38873ac4fc0a796dcb38488528ffc90092d80b79
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/subsystems/imu.c
    M sw/airborne/test/ahrs/Makefile
    A sw/airborne/test/ahrs/generated/airframe.h
    M sw/airborne/test/ahrs/run_ahrs_on_flight_log.c

  Log Message:
  -----------
  [test] update some mostly unused ahrs tests


  Commit: e3abe48436179d888475f13b4b1a7f71b6adbe56
      
https://github.com/paparazzi/paparazzi/commit/e3abe48436179d888475f13b4b1a7f71b6adbe56
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/ins/ahrs_chimu_spi.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c

  Log Message:
  -----------
  [ahrs] also pass dt to update_accel and update_mag

Not so sure passing dt to the update functions is the best way to go...
Is only used to update the gains of the cmpl filters right now.
But it makes it possible to properly compute the gains and avoids having a 
dependency on sys_time in the AHRS.


  Commit: 1cec1e9db9f518496051672f05185d14884f7a84
      
https://github.com/paparazzi/paparazzi/commit/1cec1e9db9f518496051672f05185d14884f7a84
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c

  Log Message:
  -----------
  [rotorcraft] only calc mag dt if actually using mag


  Commit: 20ee0bb0d48841d07267dc2a4c41190571e23b36
      
https://github.com/paparazzi/paparazzi/commit/20ee0bb0d48841d07267dc2a4c41190571e23b36
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  [fixedwing] minor cleanup for ahrs_sim


  Commit: 12d0eca18ddd5eedc9348a396fb73dfb91b3f324
      
https://github.com/paparazzi/paparazzi/commit/12d0eca18ddd5eedc9348a396fb73dfb91b3f324
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/subsystems/ins/ins_alt_float.c

  Log Message:
  -----------
  [ins] alt_float, bound dt and used fixed GPS_DT if defined


  Commit: 0502f631ed861bf00b2a689314ced090cb9c27b8
      
https://github.com/paparazzi/paparazzi/commit/0502f631ed861bf00b2a689314ced090cb9c27b8
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/mcu_periph/sys_time.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/test/subsystems/test_ahrs.c

  Log Message:
  -----------
  [airborne] calc dt with usec resolution


Compare: 
https://github.com/paparazzi/paparazzi/compare/f49cdb332595...0502f631ed86