[paparazzi-commits] [6028] rename BOOZ_INS to INS, still a double messag

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[paparazzi-commits] [6028] rename BOOZ_INS to INS, still a double messag

From:	Felix Ruess
Subject:	[paparazzi-commits] [6028] rename BOOZ_INS to INS, still a double message name to resolve
Date:	Tue, 28 Sep 2010 19:01:59 +0000
Revision: 6028
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6028
Author:   flixr
Date:     2010-09-28 19:01:59 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
rename BOOZ_INS to INS, still a double message name to resolve

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml
    paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
    paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
    
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
    
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
    paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
    paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
    paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
    paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
    paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml
    paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml
    paparazzi3/trunk/conf/airframes/booz2_Aron.xml
    paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
    paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml
    paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml
    paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml
    paparazzi3/trunk/conf/airframes/booz2_s1.xml
    paparazzi3/trunk/conf/airframes/booz2_x1.xml
    paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml
    paparazzi3/trunk/conf/messages.xml
    paparazzi3/trunk/conf/telemetry/booz_minimal.xml
    paparazzi3/trunk/conf/telemetry/telemetry_booz2.xml
    paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h

Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml  2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/blender.xml  2010-09-28 
19:01:59 UTC (rev 6028)
@@ -150,7 +150,7 @@
     <define name="HACK_45" value="1"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="16.5" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-09-28 
19:01:59 UTC (rev 6028)
@@ -139,7 +139,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
     <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>

Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml     2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml     2010-09-28 
19:01:59 UTC (rev 6028)
@@ -190,7 +190,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
     <define name="UNTILT_ACCEL" value="1"/>
   </section>

Modified: 
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
===================================================================
--- 
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
    2010-09-28 19:01:51 UTC (rev 6027)
+++ 
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
    2010-09-28 19:01:59 UTC (rev 6028)
@@ -148,7 +148,7 @@
   </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: 
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
===================================================================
--- 
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml   
    2010-09-28 19:01:51 UTC (rev 6027)
+++ 
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml   
    2010-09-28 19:01:59 UTC (rev 6028)
@@ -165,7 +165,7 @@
        </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -141,7 +141,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml 2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml 2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -145,7 +145,7 @@
     <define name="H_Z" value="0.8624"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -133,7 +133,7 @@
     <define name="TRIM_R" value="0"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -120,7 +120,7 @@
     <define name="TRIM_R" value="0"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -98,7 +98,7 @@
     <define name="HACK_45" value="1"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -137,7 +137,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -138,7 +138,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -137,7 +137,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
 <!--    <define name="BARO_SENS" value="15." integer="16"/> -->
     <define name="BARO_SENS" value="10." integer="16"/>
   </section>

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml  2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml  2010-09-28 
19:01:59 UTC (rev 6028)
@@ -215,7 +215,7 @@
   </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
        <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml  2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml  2010-09-28 
19:01:59 UTC (rev 6028)
@@ -125,7 +125,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml  2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml  2010-09-28 
19:01:59 UTC (rev 6028)
@@ -170,7 +170,7 @@
                <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
        </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
        <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml 
2010-09-28 19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml 
2010-09-28 19:01:59 UTC (rev 6028)
@@ -170,7 +170,7 @@
         <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
     </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml 2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml 2010-09-28 
19:01:59 UTC (rev 6028)
@@ -216,7 +216,7 @@
   </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml  2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/lisa_a1000.xml  2010-09-28 
19:01:59 UTC (rev 6028)
@@ -133,7 +133,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_Aron.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_Aron.xml      2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_Aron.xml      2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -133,7 +133,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -170,7 +170,7 @@
                <define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }" />
        </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -170,7 +170,7 @@
                <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
        </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml  2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml  2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -170,7 +170,7 @@
                <define name="ADDR" value="{ 0x54, 0x58, 0x56, 0x52 }" />
        </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -160,7 +160,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16" />
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml    2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_ppzuav.xml    2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -191,7 +191,7 @@
    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
  </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_s1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_s1.xml        2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_s1.xml        2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -129,7 +129,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/booz2_x1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_x1.xml        2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/airframes/booz2_x1.xml        2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -140,7 +140,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="19." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml       2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/airframes/esden/lisa_asctec.xml       2010-09-28 
19:01:59 UTC (rev 6028)
@@ -133,7 +133,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2010-09-28 19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/messages.xml  2010-09-28 19:01:59 UTC (rev 6028)
@@ -1470,7 +1470,7 @@
       <field name="mag_z"    type="float" />
     </message>
 
-    <message name="BOOZ_INS" id="198">
+    <message name="INS" id="198">
       <field name="ins_x"     type="int32" alt_unit="m"    
alt_unit_coef="0.0039063"/>
       <field name="ins_y"     type="int32" alt_unit="m"    
alt_unit_coef="0.0039063"/>
       <field name="ins_z"     type="int32" alt_unit="m"    
alt_unit_coef="0.0039063"/>

Modified: paparazzi3/trunk/conf/telemetry/booz_minimal.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/booz_minimal.xml    2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/telemetry/booz_minimal.xml    2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -25,7 +25,7 @@
       <message name="WP_MOVED"          period="1.3"/>
       <message name="BOOZ2_CAM"         period="1."/>
       <message name="BOOZ2_GPS"         period=".25"/>
-      <message name="BOOZ_INS"          period=".25"/>
+      <message name="INS"          period=".25"/>
     </mode>
 
 

Modified: paparazzi3/trunk/conf/telemetry/telemetry_booz2.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/telemetry_booz2.xml 2010-09-28 19:01:51 UTC 
(rev 6027)
+++ paparazzi3/trunk/conf/telemetry/telemetry_booz2.xml 2010-09-28 19:01:59 UTC 
(rev 6028)
@@ -15,7 +15,7 @@
       <message name="WP_MOVED"          period="1.3"/>
       <message name="BOOZ2_CAM"         period="1."/>
       <message name="BOOZ2_GPS"         period=".25"/>
-      <message name="BOOZ_INS"          period=".25"/>
+      <message name="INS"          period=".25"/>
     </mode>
 
     <mode name="ppm">

Modified: paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml   2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/conf/telemetry/telemetry_booz2_flixr.xml   2010-09-28 
19:01:59 UTC (rev 6028)
@@ -15,7 +15,7 @@
       <message name="WP_MOVED"          period="1.3"/>
       <message name="BOOZ2_CAM"         period="1."/>
       <message name="BOOZ2_GPS"         period=".25"/>
-      <message name="BOOZ_INS"          period=".25"/>
+      <message name="INS"          period=".25"/>
     </mode>
 
     <mode name="ppm">

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c     2010-09-28 
19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins.c     2010-09-28 
19:01:59 UTC (rev 6028)
@@ -188,7 +188,7 @@
       ins_qfe = baro.absolute;
       ins_baro_initialised = TRUE;
     }
-    ins_baro_alt = ((baro.absolute - ins_qfe) * 
BOOZ_INS_BARO_SENS_NUM)/BOOZ_INS_BARO_SENS_DEN;
+    ins_baro_alt = ((baro.absolute - ins_qfe) * 
INS_BARO_SENS_NUM)/INS_BARO_SENS_DEN;
     float alt_float = POS_FLOAT_OF_BFP(ins_baro_alt);
     if (ins_vf_realign) {
       ins_vf_realign = FALSE;
@@ -275,8 +275,8 @@
   sonar_filtered = (sonar_meas + 2*sonar_filtered) / 3;
   /* update baro_qfe assuming a flat ground */
   if (ins_update_on_agl && booz2_analog_baro_status == 
BOOZ2_ANALOG_BARO_RUNNING) {
-    int32_t d_sonar = (((int32_t)sonar_filtered - ins_sonar_offset) * 
BOOZ_INS_SONAR_SENS_NUM) / BOOZ_INS_SONAR_SENS_DEN;
-    ins_qfe = (int32_t)booz2_analog_baro_value + (d_sonar * 
(BOOZ_INS_BARO_SENS_DEN))/BOOZ_INS_BARO_SENS_NUM;
+    int32_t d_sonar = (((int32_t)sonar_filtered - ins_sonar_offset) * 
INS_SONAR_SENS_NUM) / INS_SONAR_SENS_DEN;
+    ins_qfe = (int32_t)booz2_analog_baro_value + (d_sonar * 
(INS_BARO_SENS_DEN))/INS_BARO_SENS_NUM;
   }
 #endif
 }

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h       
2010-09-28 19:01:51 UTC (rev 6027)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h       
2010-09-28 19:01:59 UTC (rev 6028)
@@ -576,8 +576,8 @@
 #define PERIODIC_SEND_INS3(_chan) {}
 #endif /* USE_GPS */
 
-#define PERIODIC_SEND_BOOZ_INS(_chan) {                        \
-    DOWNLINK_SEND_BOOZ_INS(_chan,                              \
+#define PERIODIC_SEND_INS(_chan) {                     \
+    DOWNLINK_SEND_INS(_chan,                           \
                                           &ins_ltp_pos.x,              \
                                           &ins_ltp_pos.y,          \
                                           &ins_ltp_pos.z,              \
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