Moved some interface files & changed speed to ias for pitot speed

avtoku · avtoku · commit e18e1ef2f274 · 2025-05-28T12:58:57.000-07:00
diff --git a/boards/varmint_h7/make_links.bat b/boards/varmint_h7/make_links.bat
diff --git a/comms/mavlink/mavlink.h b/comms/mavlink/mavlink.h
@@ -42,7 +42,7 @@
 #include "v1.0/rosflight/mavlink.h"
 #pragma GCC diagnostic pop
 
-#include "interface/comm_link.h"
+#include "comm_link.h"
 
 #include "board.h"
 
diff --git a/include/comm_link.h b/include/comm_link.h
diff --git a/include/comm_manager.h b/include/comm_manager.h
@@ -32,8 +32,8 @@
 #ifndef ROSFLIGHT_FIRMWARE_COMM_MANAGER_H
 #define ROSFLIGHT_FIRMWARE_COMM_MANAGER_H
 
-#include "interface/comm_link.h"
-#include "interface/param_listener.h"
+#include "comm_link.h"
+#include "param_listener.h"
 
 #include <stdarg.h>
 #include <stdio.h>
diff --git a/include/command_manager.h b/include/command_manager.h
@@ -32,7 +32,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_COMMAND_MANAGER_H
 #define ROSFLIGHT_FIRMWARE_COMMAND_MANAGER_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include "rc.h"
 
diff --git a/include/controller.h b/include/controller.h
@@ -32,7 +32,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_CONTROLLER_H
 #define ROSFLIGHT_FIRMWARE_CONTROLLER_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include "command_manager.h"
 #include "estimator.h"
diff --git a/include/estimator.h b/include/estimator.h
@@ -32,7 +32,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_ESTIMATOR_H
 #define ROSFLIGHT_FIRMWARE_ESTIMATOR_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include <turbomath/turbomath.h>
 
diff --git a/include/interface/rosflight_structs.h b/include/interface/rosflight_structs.h
@@ -73,7 +73,7 @@ typedef struct //__attribute__((__packed__))
   union
   {
     float altitude;
-    float speed;
+    float ias; //speed;
   };
 } PressureStruct;
 
diff --git a/include/mixer.h b/include/mixer.h
@@ -32,7 +32,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_MIXER_H
 #define ROSFLIGHT_FIRMWARE_MIXER_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 #include "controller.h"
 
 #include <eigen/Eigen/Dense>
diff --git a/include/param.h b/include/param.h
@@ -47,7 +47,7 @@
 // #pragma message( "GIT_VERSION_HASH: " STRINGIFY(GIT_VERSION_HASH))
 // #pragma message( "GIT_VERSION_STRING: " GIT_VERSION_STRING)
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include <cstddef>
 #include <cstdint>
diff --git a/include/param_listener.h b/include/param_listener.h
diff --git a/include/rc.h b/include/rc.h
@@ -34,7 +34,7 @@
 
 #include "rosflight_structs.h"
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include <cstdbool>
 #include <cstdint>
diff --git a/include/rosflight.h b/include/rosflight.h
@@ -32,8 +32,8 @@
 #ifndef ROSFLIGHT_FIRMWARE_ROSFLIGHT_H
 #define ROSFLIGHT_FIRMWARE_ROSFLIGHT_H
 
-#include "interface/comm_link.h"
-#include "interface/param_listener.h"
+#include "comm_link.h"
+#include "param_listener.h"
 
 #include "board.h"
 #include "comm_manager.h"
diff --git a/include/sensors.h b/include/sensors.h
@@ -33,7 +33,7 @@
 #ifndef ROSFLIGHT_FIRMWARE_SENSORS_H
 #define ROSFLIGHT_FIRMWARE_SENSORS_H
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 #include "turbomath/turbomath.h"
 
diff --git a/src/comm_manager.cpp b/src/comm_manager.cpp
@@ -225,11 +225,7 @@ void CommManager::timesync_callback(int64_t tc1, int64_t ts1)
 {
   if (tc1 == 0) {
     // check that this is a request, not a response
-    tc1 = RF_.board_.clock_micros()*1000L; //static_cast<int64_t>(now_us) * 1000
-    if (tc1<0)
-    {
-      asm("NOP");
-    }
+    tc1 = RF_.board_.clock_micros()*1000L;
     comm_link_.send_timesync(sysid_, tc1, ts1);
   }
 }
@@ -414,7 +410,7 @@ void CommManager::send_rc_raw(void)
 
 void CommManager::send_diff_pressure(void)
 {
-  comm_link_.send_diff_pressure(sysid_, RF_.sensors_.get_diff_pressure()->speed,
+  comm_link_.send_diff_pressure(sysid_, RF_.sensors_.get_diff_pressure()->ias,
                                 RF_.sensors_.get_diff_pressure()->pressure,
                                 RF_.sensors_.get_diff_pressure()->temperature);
 }
diff --git a/src/rosflight.cpp b/src/rosflight.cpp
@@ -31,7 +31,7 @@
 
 #include "rosflight.h"
 
-#include "interface/param_listener.h"
+#include "param_listener.h"
 
 namespace rosflight_firmware
 {
diff --git a/src/sensors.cpp b/src/sensors.cpp
@@ -473,7 +473,7 @@ void Sensors::correct_diff_pressure()
 {
   if (!diff_pressure_calibrated_) { calibrate_diff_pressure(); }
   diff_pressure_.pressure -= rf_.params_.get_param_float(PARAM_DIFF_PRESS_BIAS);
-  diff_pressure_.speed = turbomath::fsign(diff_pressure_.pressure)
+  diff_pressure_.ias = turbomath::fsign(diff_pressure_.pressure)
     * sqrt((fabs(diff_pressure_.pressure) / (0.5 * 1.225)));
 }
 

Original file line number	Diff line number	Diff line change
`@@ -73,7 +73,7 @@ typedef struct //__attribute__((__packed__))`
`73`	`73`	`union`
`74`	`74`	`{`
`75`	`75`	`float altitude;`
`76`		`- float speed;`
	`76`	`+ float ias; //speed;`
`77`	`77`	`};`
`78`	`78`	`} PressureStruct;`
`79`	`79`