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[imu] convert imu subsystems to modules#1788

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flixr merged 6 commits into
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imu_modules
Aug 12, 2016
Merged

[imu] convert imu subsystems to modules#1788
flixr merged 6 commits into
masterfrom
imu_modules

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@flixr

@flixr flixr commented Jul 8, 2016 •
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Also

  • get rid of explicit imu init|event|periodic calls in main
  • each imu implementation has their own imu_x_init/event/periodic

Reviews and tests appreciated!

TODO:

  • Some airframes are still failing because the autoloading of module is not working in all cases. E.g. loading imu_lisa_m_v2.1 works, but not imu_lisa_mx_v2.1 which is just intended as an alias and autoloads imu_lisa_m_v2.1 (fixed with 1973131)
  • aspirin IMUs had different SPI/I2C defaults for lpc21 than for stm32... should we really keep this or update the failing LPC airframes to explicitly set the devices?
  • put imu related settings in the module (one common one or in every module?)

@flixr

flixr commented Jul 11, 2016

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@gautierhattenberger any ideas on the recursive autoload problem?

@gautierhattenberger

gautierhattenberger commented Jul 14, 2016

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regarding the settings (basically body_to_imu), it is possible to reference a file, but then generated doc is not as informative. Otherwise, a common imu module seems a good idea.

@flixr flixr force-pushed the imu_modules branch 2 times, most recently from 2bcbc97 to 2bbc502 Compare July 19, 2016 21:50
@gautierhattenberger

gautierhattenberger commented Jul 21, 2016

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Tested and working on Apogee.
Not working on ARDrone2.

@flixr

flixr commented Jul 22, 2016

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IMU on Ardrone2 should be fixed, although I can't test that...

flixr and others added 5 commits August 5, 2016 10:22
@flixr
[imu] convert imu subsystems to modules
c4c3558 
Also
- get rid of explicit imu init|event|periodic calls in main
- each imu implementation has their own imu_x_init/event/periodic
@gautierhattenberger @flixr
[imu] fix some imu modules
ca81556
@gautierhattenberger @flixr
[imu] fix bad paths
6c4a46f
@flixr
[imu] add imu_common module that every implementation autoloads
3154841 
and put body_to_imu settings in imu_common module
@flixr
[imu] fix imu_ardrone2
a96ffa3
@flixr

flixr commented Aug 5, 2016

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@gautierhattenberger @kirkscheper @fvantienen or anyone else interested:
IMHO this is ready to merge, but tests of more IMUs wouldn't hurt

@flixr

flixr commented Aug 10, 2016

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@podhrmic @gautierhattenberger any more tests/comments here?
Otherwise I would merge it...

@podhrmic

podhrmic commented Aug 11, 2016

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OK, so I did some tests. First of all, if I start GCS I get these errors:

RUN '/home/fwmav/Paparazzi/master/paparazzi/sw/ground_segment/cockpit/gcs '
Creating '/home/fwmav/Paparazzi/master/paparazzi/var/logs'
A failure occurred while processing aircraft 'ardrone2_raw'
 - Fail with : File not found: /home/fwmav/Paparazzi/master/paparazzi/conf/telemetry/default_ardrone.xml
 - 'ardrone2_raw' will be ignored by the server
 - Please remove it from 'conf.xml' or fix its parameter(s)
A failure occurred while processing aircraft 'ardrone2_sdk'
 - Fail with : File not found: /home/fwmav/Paparazzi/master/paparazzi/conf/telemetry/default_ardrone.xml
 - 'ardrone2_sdk' will be ignored by the server
 - Please remove it from 'conf.xml' or fix its parameter(s)
A failure occurred while processing aircraft 'bebop'
 - Fail with : File not found: /home/fwmav/Paparazzi/master/paparazzi/conf/airframes/bebop.xml
 - 'bebop' will be ignored by the server
 - Please remove it from 'conf.xml' or fix its parameter(s)
A failure occurred while processing aircraft 'krooz_quad'
 - Fail with : File not found: /home/fwmav/Paparazzi/master/paparazzi/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
 - 'krooz_quad' will be ignored by the server
 - Please remove it from 'conf.xml' or fix its parameter(s)

So that probably should be fixed...

Otherwise:

  • Tested on Lisa MX (Bixler, Quad - in both cases IMU works OK)
  • Tested on Lisa M (Bixler) - IMU works OK

@flixr

flixr commented Aug 12, 2016

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Thanks for testing.

Sounds like you were you using your own outdated conf.xml.
No aircrafts were added/removed in this PR, only the body_to_imu.xml settings file removed...

@flixr flixr merged commit 17d3277 into master Aug 12, 2016
@flixr flixr deleted the imu_modules branch August 12, 2016 10:02
podhrmic pushed a commit to podhrmic/paparazzi that referenced this pull request Sep 16, 2016
@flixr @podhrmic
[imu] convert imu subsystems to modules (paparazzi#1788)
50ad67f 
* [imu] convert imu subsystems to modules

Also
- get rid of explicit imu init|event|periodic calls in main
- each imu implementation has their own imu_x_init/event/periodic

* [imu] fix some imu modules

* [imu] fix bad paths

* [imu] add imu_common module that every implementation autoloads

and put body_to_imu settings in imu_common module

* [imu] fix imu_ardrone2

* [conf] add imu_common settings module in conf_example and conf_tests
@flixr flixr mentioned this pull request Sep 20, 2016
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@kirkscheper kirkscheper mentioned this pull request Sep 20, 2016
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2 tasks
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3 participants

@flixr @gautierhattenberger @podhrmic