Updated to new id assignments

cuspaceflight · Apr 7, 2017 · 213c269 · 213c269
1 parent 0bdb3f6
commit 213c269
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Showing 4 changed files with 4 additions and 10 deletions.
diff --git a/external/cusf-messaging b/external/cusf-messaging
diff --git a/gui/Source/Rendering/StateDetailView.cpp b/gui/Source/Rendering/StateDetailView.cpp
@@ -47,8 +47,7 @@ static bool getPacket(const telemetry_t* packet, message_metadata_t metadata) {
         mpu9250_update_count++;
     }
     else if (packet->header.id == ts_ms5611_data) {
-        FTAssert(packet->header.length == sizeof(ms5611data_t), "Incorrect Packet Size");
-        auto data = (ms5611data_t*)packet->payload;
+        auto data = telemetry_get_payload<ms5611data_t>(packet);
 
         values[0] = (float)data->pressure;
         values[1] = ms5611_get_altitude(data);

diff --git a/shared/src/state/kalman.cpp b/shared/src/state/kalman.cpp
@@ -116,7 +116,7 @@ void kalman_get_state(state_estimate_t *state) {
     state->orientation_q[3] = prior_attitude.w();
 }
 
-static_assert(KALMAN_NUM_STATES == (sizeof(((state_estimate_debug_t *)0)->P) / sizeof(float)));
+static_assert(KALMAN_NUM_STATES == (sizeof(((state_estimate_debug_t *)0)->P) / sizeof(float)), "KALMAN_NUM_STATES incorrect");
 
 void kalman_get_state_debug(state_estimate_debug_t *state) {
     for (int i = 0; i < 3; i++) {

diff --git a/shared/src/state/state_estimate.cpp b/shared/src/state/state_estimate.cpp
@@ -36,7 +36,7 @@ static uint32_t data_timestamp = 0;
 
 MESSAGING_PRODUCER(messaging_producer, ts_state_estimate_data, sizeof(state_estimate_t), 20)
 MESSAGING_PRODUCER(messaging_producer_debug, ts_state_estimate_debug, sizeof(state_estimate_debug_t), 20)
-MESSAGING_CONSUMER(messaging_consumer, ts_m3imu, ts_m3imu_mask, 0, 0, getPacket, 1024);
+MESSAGING_CONSUMER(messaging_consumer, ts_raw_data, ts_raw_data, 0, 0, getPacket, 1024);
 
 void state_estimate_init() {
     state_estimate_phase = StateEstimatePhase::Calibration;
@@ -92,11 +92,6 @@ static bool getPacket(const telemetry_t *packet, message_metadata_t metadata) {
                 magno_calibration /= (float) NUM_CALIBRATION_SAMPLES;
                 gyro_calibration /= (float) NUM_CALIBRATION_SAMPLES;
 
-                // We correct for the angle disparity between the accelerometer and magnetometer references
-                float desired_angle = std::acos(accel_reference.dot(magno_reference));
-                Vector3f rotation_vector = accel_reference.cross(magno_reference);
-                Vector3f modified_magno_reference = AngleAxisf(desired_angle, rotation_vector) * accel_reference;
-
                 const float quest_reference_vectors[2][3] = {
                         {accel_reference.x(), accel_reference.y(), accel_reference.z()},
                         {magno_reference.x(), magno_reference.y(), magno_reference.z()}