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[paparazzi-commits] [paparazzi/paparazzi] d6d1d6: [nav] update and harmo

From: Gautier Hattenberger
Subject: [paparazzi-commits] [paparazzi/paparazzi] d6d1d6: [nav] update and harmonized navigation frequency
Date: Mon, 29 Nov 2021 02:12:30 -0800

  Branch: refs/heads/nav_freq_harmonized
  Commit: d6d1d64eba6a91d59a03c77097ecd2c407af2e63
  Author: Gautier Hattenberger <>
  Date:   2021-11-29 (Mon, 29 Nov 2021)

  Changed paths:
    M conf/autopilot/fixedwing_autopilot.xml
    M conf/autopilot/fixedwing_rusty.xml
    M conf/autopilot/rotorcraft_autopilot.xml
    M conf/autopilot/rover.xml
    M conf/autopilot/rover_holonomic.xml
    R conf/modules/vehicle_interface_datalink.xml
    M sw/airborne/autopilot.c
    M sw/airborne/firmwares/fixedwing/autopilot_static.c
    M sw/airborne/firmwares/fixedwing/autopilot_static.h
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/fixedwing/nav.h
    M sw/airborne/firmwares/rotorcraft/autopilot_static.c
    M sw/airborne/firmwares/rotorcraft/main_ap.c
    M sw/airborne/firmwares/rotorcraft/navigation.c
    M sw/airborne/firmwares/rotorcraft/navigation.h
    M sw/airborne/firmwares/rover/main_ap.c
    M sw/airborne/firmwares/rover/navigation.c
    M sw/airborne/firmwares/rover/navigation.h
    M sw/airborne/modules/ctrl/object_tracking.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c
    M sw/airborne/modules/nav/common_nav.c
    M sw/airborne/modules/nav/common_nav.h
    R sw/airborne/modules/vehicle_interface/vi.c
    R sw/airborne/modules/vehicle_interface/vi.h
    R sw/airborne/modules/vehicle_interface/vi_datalink.c
    R sw/airborne/modules/vehicle_interface/vi_datalink.h
    R sw/airborne/modules/vehicle_interface/vi_test_signal.c
    R sw/airborne/modules/vehicle_interface/vi_test_signal.h

  Log Message:
  [nav] update and harmonized navigation frequency

- use NAVIGATION_FREQUENCY for all firmwares
- use 20 Hz as default, unless a PERIODIC_FREQ of 516 is used for
rotorcraft (then keep 16)
- remove old vehicle interface module
- update some files

The idea with 20Hz is to be closer to recent GPS modules providing
positions at 10 to 20 Hz and to have a multiple of the common
frequencies used in the system: 60, 100, 120, 500, 1000, ...
Only execption is the legacy 512Hz where it is better to keep 16 to have
a correct prescaler.

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