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.