[paparazzi-commits] [5109] xsens for fixed-wing

[Christophe De Wagter]

Revision: 5109
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5109
Author:   dewagter
Date:     2010-07-22 09:57:16 +0000 (Thu, 22 Jul 2010)
Log Message:
-----------
xsens for fixed-wing

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/modules/ins/ins.h
    paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c

Modified: paparazzi3/trunk/sw/airborne/modules/ins/ins.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/ins/ins.h      2010-07-22 09:56:11 UTC 
(rev 5108)
+++ paparazzi3/trunk/sw/airborne/modules/ins/ins.h      2010-07-22 09:57:16 UTC 
(rev 5109)
@@ -32,6 +32,7 @@
 #define INS_H
 
 #include "std.h"
+#include "led.h"
 
 #ifndef INS_FORMAT
 #define INS_FORMAT float

Modified: paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c        2010-07-22 
09:56:11 UTC (rev 5108)
+++ paparazzi3/trunk/sw/airborne/modules/ins/ins_xsens.c        2010-07-22 
09:57:16 UTC (rev 5109)
@@ -31,7 +31,6 @@
 #include <inttypes.h>
 
 #include "airframe.h"
-#include "led.h"
 
 #include "downlink.h"
 #include "messages.h"
@@ -133,7 +132,7 @@
   XSENS_GoToConfig();
   XSENS_SetOutputMode(xsens_output_mode);
   XSENS_SetOutputSettings(xsens_output_settings);
-  XSENS_GoToMeasurment();
+  //XSENS_GoToMeasurment();
 }
 
 void ins_periodic_task( void ) {
@@ -143,11 +142,9 @@
 #include "estimator.h"
 
 void handle_ins_msg( void) {
-  if (xsens_id == XSENS_MTData_ID) {
-    EstimatorSetAtt(ins_phi,-ins_psi, -ins_theta);
-    EstimatorSetRate(ins_p,ins_q);
-    EstimatorSetSpeedPol(gps_gspeed, -ins_psi, ins_vz);
-  }
+  EstimatorSetAtt(ins_phi, ins_psi, ins_theta);
+  EstimatorSetRate(ins_p,ins_q);
+  EstimatorSetSpeedPol(gps_gspeed, ins_psi, ins_vz);
 }
 
 void parse_ins_msg( void ) {