Software updates

A new ver­sion of the boards is under pro­duc­tion. While wait­ing for it I have pri­mar­ily been work­ing with the embed­ded soft­ware. The fol­low­ing are the important/larger changes which have been pushed to sourceforge:

  • Sup­port for com­pil­ing the code for the dif­fer­ent hard­ware plat­forms (ver­sions) has been added. The plat­form is con­trolled by in-line macro def­i­n­i­tions (-D) which together with #if … #endif state­ments include appro­pri­ate code sec­tions. Most of the set­ting for the dif­fer­ent ver­sions have been col­lected in plat­form spe­cific con­fig files.
  • The inte­ger iner­tial fron­tend is now almost com­pletely inte­grated and can now be used with the old units. The cor­re­spond­ing float­ing point func­tions in nav_eq.c are still there but will prob­a­bly be cleaned out some­time later.
  • The com­mands have been cleaned up and sev­eral com­mands which have been essen­tially unused have been removed.

140316: The float­ing point zupt-functions and states have now been cleaned out from nav_eq.c and the run­time framework.

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