[config] better warning message and update example airframe

FlyTheThings · Nov 12, 2013 · a0fcc68 · a0fcc68
1 parent 0c7c09c
commit a0fcc68
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Showing 3 changed files with 11 additions and 6 deletions.
diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -21,6 +21,7 @@
     <!--define name="LOITER_TRIM"/-->
     <!--define name="PITCH_TRIM"/-->
     <define name="USE_GYRO_PITCH_RATE"/>
+    <configure name="PERIODIC_FREQUENCY" value="100"/>
 
     <target name="sim" board="pc"/>
     <target name="ap" board="apogee_1.0"/>

diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -127,16 +127,14 @@ PRINT_CONFIG_VAR(MODULES_FREQUENCY)
 #define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
 PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
-#if AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY
-#warning PERIODIC_FREQUENCY should be >= AHRS_PROPAGATE_FREQUENCY
-#endif
-
 #ifndef AHRS_CORRECT_FREQUENCY
 #define AHRS_CORRECT_FREQUENCY PERIODIC_FREQUENCY
 #endif
 PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
-#if AHRS_CORRECT_FREQUENCY > PERIODIC_FREQUENCY
-#warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
+
+#if (AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY)
+#warning "PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY"
+INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY to at least ",AHRS_PROPAGATE_FREQUENCY)
 #endif
 
 static inline void on_gyro_event( void );

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -101,6 +101,12 @@ PRINT_CONFIG_VAR(MODULES_FREQUENCY)
 #endif
 PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
 
+#if USE_AHRS && USE_IMU && (defined AHRS_PROPAGATE_FREQUENCY)
+#if (AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY)
+#warning "PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY"
+INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY to at least ",AHRS_PROPAGATE_FREQUENCY)
+#endif
+#endif
 
 static inline void on_gyro_event( void );
 static inline void on_accel_event( void );