From 6d11940ada4914916c9ba06a7e87d145e650037b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 22 Aug 2012 10:42:21 +1000 Subject: [PATCH] AHRS: removed Quaternion build support from APM/ACM/rover --- APMrover2/APMrover2.pde | 6 +----- APMrover2/config.h | 4 ---- APMrover2/system.pde | 3 --- ArduCopter/ArduCopter.pde | 8 ++------ ArduCopter/Makefile | 3 --- ArduCopter/config.h | 5 ----- ArduCopter/options.cmake | 4 ---- ArduCopter/setup.pde | 3 --- ArduPlane/ArduPlane.pde | 10 +++------- ArduPlane/Makefile | 3 --- ArduPlane/config.h | 5 ----- ArduPlane/options.cmake | 4 ---- ArduPlane/system.pde | 4 ---- 13 files changed, 6 insertions(+), 56 deletions(-) diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde index 41312b0797..3c55d491f3 100644 --- a/APMrover2/APMrover2.pde +++ b/APMrover2/APMrover2.pde @@ -254,11 +254,7 @@ AP_GPS_None g_gps_driver(NULL); #endif // CONFIG_IMU_TYPE AP_IMU_INS imu( &ins ); -#if QUATERNION_ENABLE == ENABLED - AP_AHRS_Quaternion ahrs(&imu, g_gps); -#else - AP_AHRS_DCM ahrs(&imu, g_gps); -#endif +AP_AHRS_DCM ahrs(&imu, g_gps); #elif HIL_MODE == HIL_MODE_SENSORS // sensor emulators diff --git a/APMrover2/config.h b/APMrover2/config.h index b9bd0dccd5..d43c5012f7 100644 --- a/APMrover2/config.h +++ b/APMrover2/config.h @@ -919,7 +919,3 @@ # define RESET_SWITCH_CHAN_PWM 1750 #endif -// experimental quaternion code -#ifndef QUATERNION_ENABLE -# define QUATERNION_ENABLE DISABLED -#endif diff --git a/APMrover2/system.pde b/APMrover2/system.pde index 05d878d5e3..affc141771 100644 --- a/APMrover2/system.pde +++ b/APMrover2/system.pde @@ -107,9 +107,6 @@ static void init_ardupilot() "\n\nFree RAM: %u\n"), memcheck_available_memory()); -#if QUATERNION_ENABLE == ENABLED - Serial.printf_P(PSTR("Quaternion test\n")); -#endif // // Initialize Wire and SPI libraries // diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index ee0dd496b6..db7fd83216 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -268,14 +268,10 @@ AP_IMU_INS imu(&ins); // a NULL GPS object pointer static GPS *g_gps_null; -#if QUATERNION_ENABLE == ENABLED - AP_AHRS_Quaternion ahrs(&imu, g_gps_null); -#else - #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 +#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2 - #else +#else AP_AHRS_DCM ahrs(&imu, g_gps); - #endif #endif AP_TimerProcess timer_scheduler; diff --git a/ArduCopter/Makefile b/ArduCopter/Makefile index 299e25d784..48d5120ae5 100644 --- a/ArduCopter/Makefile +++ b/ArduCopter/Makefile @@ -42,9 +42,6 @@ sitl-hexa: sitl-y6: make -f ../libraries/Desktop/Makefile.desktop y6 -sitl-quaternion: - make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DQUATERNION_ENABLE=ENABLED" - etags: cd .. && etags -f ArduCopter/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduCopter libraries) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 800be23db0..deee6026f4 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -1062,11 +1062,6 @@ #endif -// experimental quaternion code -#ifndef QUATERNION_ENABLE -# define QUATERNION_ENABLE DISABLED -#endif - // experimental mpu6000 DMP code #ifndef DMP_ENABLED # define DMP_ENABLED DISABLED diff --git a/ArduCopter/options.cmake b/ArduCopter/options.cmake index 6003a19b8b..ba6ea08895 100644 --- a/ArduCopter/options.cmake +++ b/ArduCopter/options.cmake @@ -38,10 +38,6 @@ apm_option("LOGGING_ENABLED" TYPE BOOL DESCRIPTION "Enable logging?" DEFAULT OFF) -apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED - DESCRIPTION "Enable quaterion navigation?" - DEFAULT OFF) - apm_option("GPS_PROTOCOL" TYPE STRING DESCRIPTION "GPS protocol?" DEFAULT "GPS_PROTOCOL_AUTO" diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde index ed49eda0a2..a278304836 100644 --- a/ArduCopter/setup.pde +++ b/ArduCopter/setup.pde @@ -1233,9 +1233,6 @@ static void report_gps() static void report_version() { Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.format_version.get()); -#if QUATERNION_ENABLE == ENABLED - Serial.printf_P(PSTR("Quaternion test\n")); -#endif print_divider(); print_blanks(2); } diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index 7a41f1aeed..c1ebba44ec 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -214,14 +214,10 @@ AP_GPS_None g_gps_driver(NULL); #endif // CONFIG_IMU_TYPE AP_IMU_INS imu( &ins ); -#if QUATERNION_ENABLE == ENABLED - AP_AHRS_Quaternion ahrs(&imu, g_gps); +#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 + AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2 #else - #if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 - AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2 - #else - AP_AHRS_DCM ahrs(&imu, g_gps); - #endif + AP_AHRS_DCM ahrs(&imu, g_gps); #endif #elif HIL_MODE == HIL_MODE_SENSORS diff --git a/ArduPlane/Makefile b/ArduPlane/Makefile index 06cacb7628..7c981d83dd 100644 --- a/ArduPlane/Makefile +++ b/ArduPlane/Makefile @@ -40,9 +40,6 @@ sitl: sitl-mount: make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMOUNT=ENABLED" -sitl-quaternion: - make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DQUATERNION_ENABLE=ENABLED" - etags: cd .. && etags -f ArduPlane/TAGS --langmap=C++:.pde.cpp.h $$(git ls-files ArduPlane libraries) diff --git a/ArduPlane/config.h b/ArduPlane/config.h index 9563d5fa5a..7c50e30e5e 100644 --- a/ArduPlane/config.h +++ b/ArduPlane/config.h @@ -834,11 +834,6 @@ # define RESET_SWITCH_CHAN_PWM 1750 #endif -// experimental quaternion code -#ifndef QUATERNION_ENABLE -# define QUATERNION_ENABLE DISABLED -#endif - // experimental mpu6000 DMP code #ifndef DMP_ENABLED # define DMP_ENABLED DISABLED diff --git a/ArduPlane/options.cmake b/ArduPlane/options.cmake index 38e2190d83..9fcb19fd5a 100644 --- a/ArduPlane/options.cmake +++ b/ArduPlane/options.cmake @@ -38,10 +38,6 @@ apm_option("LOGGING_ENABLED" TYPE BOOL DESCRIPTION "Enable logging?" DEFAULT OFF) -apm_option("QUATERNION_ENABLE" TYPE BOOL ADVANCED - DESCRIPTION "Enable quaterion navigation?" - DEFAULT OFF) - apm_option("GPS_PROTOCOL" TYPE STRING DESCRIPTION "GPS protocol?" DEFAULT "GPS_PROTOCOL_AUTO" diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde index 427efd7e45..6370ee5f28 100644 --- a/ArduPlane/system.pde +++ b/ArduPlane/system.pde @@ -92,10 +92,6 @@ static void init_ardupilot() "\n\nFree RAM: %u\n"), memcheck_available_memory()); -#if QUATERNION_ENABLE == ENABLED - Serial.printf_P(PSTR("Quaternion test\n")); -#endif - // // Initialize Wire and SPI libraries //