Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.
With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.
Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:
$ waf copter
'copter' finished successfully (0.000s)
Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
[370/370] Linking build/minlure/bin/arducopter
Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
use a single float return rather than two APIs.
This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen.
This also changes the MPU6k filtering to be less than half the sample
rate
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
Peter Barker
Mathieu OTHACEHE
Lucas De Marchi
Andrew Tridgell
Andrew Tridgell
Michael Oborne
Pat Hickey
rmackay9
uncrustify
Craig Elder