[paparazzi-commits] [6030] removed old horizontal filter hf_float-old

[Felix Ruess]

Revision: 6030
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6030
Author:   flixr
Date:     2010-09-28 19:02:20 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
removed old horizontal filter hf_float-old

Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h

Deleted: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c        
2010-09-28 19:02:06 UTC (rev 6029)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c        
2010-09-28 19:02:20 UTC (rev 6030)
@@ -1,118 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#include "hf_float-old.h"
-#include <firmwares/rotorcraft/ins.h>
-
-#include <firmwares/rotorcraft/imu.h>
-#include <firmwares/rotorcraft/ahrs.h>
-#include "math/pprz_algebra_int.h"
-
-
-struct Int32Vect3 b2ins_accel_bias;
-struct Int32Vect3 b2ins_accel_ltp;
-struct Int32Vect3 b2ins_speed_ltp;
-struct Int64Vect3 b2ins_pos_ltp;
-
-struct Int32Eulers b2ins_body_to_imu_eulers;
-struct Int32Quat   b2ins_body_to_imu_quat;
-struct Int32Quat   b2ins_imu_to_body_quat;
-
-struct Int32Vect3  b2ins_meas_gps_pos_ned;
-struct Int32Vect3  b2ins_meas_gps_speed_ned;
-
-
-#include "downlink.h"
-
-void b2ins_init(void) {
-  INT32_VECT3_ZERO(b2ins_accel_bias);
-}
-
-void b2ins_propagate(void) {
-
-  struct Int32Vect3 scaled_biases;
-  VECT3_SDIV(scaled_biases, b2ins_accel_bias, 
(1<<(B2INS_ACCEL_BIAS_FRAC-B2INS_ACCEL_LTP_FRAC)));
-  struct Int32Vect3 accel_imu;
-  /* unbias accelerometers */
-  VECT3_DIFF(accel_imu, imu.accel, scaled_biases);
-  /* convert to LTP */
-  //  BOOZ_IQUAT_VDIV(b2ins_accel_ltp, ahrs.ltp_to_imu_quat, accel_imu);
-  INT32_RMAT_TRANSP_VMULT(b2ins_accel_ltp,  ahrs.ltp_to_imu_rmat, accel_imu);
-  /* correct for gravity */
-  b2ins_accel_ltp.z += ACCEL_BFP_OF_REAL(9.81);
-  /* propagate position */
-  VECT3_ADD(b2ins_pos_ltp, b2ins_speed_ltp);
-  /* propagate speed */
-  VECT3_ADD(b2ins_speed_ltp, b2ins_accel_ltp);
-
-}
-
-#define K_POS   3
-/* make sure >=9 */
-#define K_SPEED 9
-
-#define UPDATE_FROM_POS   1
-#define UPDATE_FROM_SPEED 1
-
-void b2ins_update_gps(void) {
-
-#ifdef UPDATE_FROM_POS
-  struct Int64Vect2 scaled_pos_meas;
-  /* INT32 pos in cm -> INT64 pos in cm*/
-  VECT2_COPY(scaled_pos_meas, ins_gps_pos_cm_ned);
-  /* to BFP but still in cm */
-  VECT2_SMUL(scaled_pos_meas, scaled_pos_meas, (1<<B2INS_POS_LTP_FRAC));
-  /* INT64 BFP pos in cm -> INT64 BFP pos in m */
-  VECT2_SDIV(scaled_pos_meas, scaled_pos_meas, 100);
-  struct Int64Vect2 pos_residual;
-  VECT2_DIFF(pos_residual, scaled_pos_meas, b2ins_pos_ltp);
-  struct Int32Vect2 pos_cor_1;
-  VECT2_SDIV(pos_cor_1, pos_residual, (1<<K_POS));
-  VECT2_ADD(b2ins_pos_ltp, pos_cor_1);
-  struct Int32Vect2 speed_cor_1;
-  VECT2_SDIV(speed_cor_1, pos_residual, (1<<(K_POS+9)));
-  VECT2_ADD(b2ins_speed_ltp, speed_cor_1);
-#endif /* UPDATE_FROM_POS */
-
-#ifdef UPDATE_FROM_SPEED
-  INT32_VECT3_SCALE_2(b2ins_meas_gps_speed_ned, ins_gps_speed_cm_s_ned, 
INT32_SPEED_OF_CM_S_NUM, INT32_SPEED_OF_CM_S_DEN);
-  struct Int32Vect2 scaled_speed_meas;
-  VECT2_SMUL(scaled_speed_meas, b2ins_meas_gps_speed_ned, 
(1<<(B2INS_SPEED_LTP_FRAC-INT32_SPEED_FRAC)));
-  struct Int32Vect2 speed_residual;
-  VECT2_DIFF(speed_residual, scaled_speed_meas, b2ins_speed_ltp);
-  struct Int32Vect2 pos_cor_s;
-  VECT2_SDIV(pos_cor_s, speed_residual, (1<<(K_SPEED-9)));
-  VECT2_ADD(b2ins_pos_ltp, pos_cor_s);
-  struct Int32Vect2 speed_cor_s;
-  VECT2_SDIV(speed_cor_s, speed_residual, (1<<K_SPEED));
-  VECT2_ADD(b2ins_speed_ltp, speed_cor_s);
-
-  struct Int32Vect3 speed_residual3;
-  VECT2_SDIV(speed_residual3, speed_residual, (1<<9));
-  speed_residual3.z = 0;
-  struct Int32Vect3 bias_cor_s;
-  INT32_RMAT_VMULT( bias_cor_s, ahrs.ltp_to_imu_rmat, speed_residual3);
-  VECT3_ADD(b2ins_accel_bias, bias_cor_s);
-#endif /* UPDATE_FROM_SPEED */
-
-}

Deleted: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h        
2010-09-28 19:02:06 UTC (rev 6029)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h        
2010-09-28 19:02:20 UTC (rev 6030)
@@ -1,46 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef HF_FLOAT_H
-#define HF_FLOAT_H
-
-#include "math/pprz_algebra_float.h"
-#include "math/pprz_algebra_int.h"
-
-extern struct Int32Vect3 b2ins_accel_bias;
-#define B2INS_ACCEL_BIAS_FRAC 19
-extern struct Int32Vect3 b2ins_accel_ltp;
-#define B2INS_ACCEL_LTP_FRAC 10
-extern struct Int32Vect3 b2ins_speed_ltp;
-#define B2INS_SPEED_LTP_FRAC 19
-extern struct Int64Vect3 b2ins_pos_ltp;
-#define B2INS_POS_LTP_FRAC   28
-
-extern struct Int32Vect3  b2ins_meas_gps_pos_ned;
-extern struct Int32Vect3  b2ins_meas_gps_speed_ned;
-
-extern void b2ins_init(void);
-extern void b2ins_propagate(void);
-extern void b2ins_update_gps(void);
-
-#endif /* HF_FLOAT_H */