[paparazzi-commits] [4068] match new messages and telemetry conf

[Gautier Hattenberger]

Revision: 4068
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4068
Author:   gautier
Date:     2009-09-03 11:42:58 +0000 (Thu, 03 Sep 2009)
Log Message:
-----------
match new messages and telemetry conf

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2009-09-03 11:38:55 UTC 
(rev 4067)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2009-09-03 11:42:58 UTC 
(rev 4068)
@@ -42,16 +42,17 @@
 #include "booz_imu.h"
 #include "booz2_gps.h"
 #include "booz2_ins.h"
+#include "booz_ahrs.h"
 
 extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 #ifdef USE_GPS
 #define PERIODIC_SEND_BOOZ_STATUS(_chan) {                             \
     uint32_t booz_imu_nb_err = 0;                                      \
-    uint8_t twi_blmc_nb_err = 0;                                       \
+    uint8_t _twi_blmc_nb_err = 0;                                      \
     DOWNLINK_SEND_BOOZ_STATUS(_chan,                                   \
                              &booz_imu_nb_err,                         \
-                             &twi_blmc_nb_err,                         \
+                             &_twi_blmc_nb_err,                                
\
                              &radio_control.status,                    \
                              &booz_gps_state.fix,                      \
                              &booz2_autopilot_mode,                    \
@@ -289,7 +290,6 @@
 
 
 #ifdef USE_AHRS_CMPL
-#include "booz_ahrs.h"
 #include "ahrs/booz2_filter_attitude_cmpl_euler.h"
 #define PERIODIC_SEND_BOOZ2_FILTER(_chan) {                            \
     DOWNLINK_SEND_BOOZ2_FILTER(_chan,                                  \
@@ -526,6 +526,7 @@
   }
 
 #ifdef USE_GPS
+#include "ins/booz2_hf_float.h"
 #define PERIODIC_SEND_BOOZ2_INS3(_chan) {                              \
     DOWNLINK_SEND_BOOZ2_INS3(_chan,                                    \
                             &b2ins_meas_gps_pos_ned.x,                 \
@@ -561,6 +562,7 @@
                                &booz_ins_ltp_def.lla.lat,              \
                                &booz_ins_ltp_def.lla.lon,              \
                                &booz_ins_ltp_def.lla.alt,              \
+                               &booz_ins_ltp_def.hmsl,         \
                                &booz_ins_qfe);                         \
   }
 
@@ -593,12 +595,16 @@
                                   &booz_ins_ltp_pos.y,                 \
                                   &booz_ins_ltp_speed.x,               \
                                   &booz_ins_ltp_speed.y,               \
+                                  &booz_ins_ltp_accel.x,               \
+                                  &booz_ins_ltp_accel.y,               \
                                   &booz2_guidance_h_pos_err.x,         \
                                   &booz2_guidance_h_pos_err.y,         \
                                   &booz2_guidance_h_speed_err.x,       \
                                   &booz2_guidance_h_speed_err.y,       \
                                   &booz2_guidance_h_pos_err_sum.x,     \
                                   &booz2_guidance_h_pos_err_sum.y,     \
+                                  &booz2_guidance_h_nav_err.x, \
+                                  &booz2_guidance_h_nav_err.y, \
                                   &booz2_guidance_h_command_earth.x,   \
                                   &booz2_guidance_h_command_earth.y,   \
                                   &booz2_guidance_h_command_body.phi,  \
@@ -634,6 +640,9 @@
                             &booz_gps_state.ecef_pos.x,                \
                             &booz_gps_state.ecef_pos.y,                \
                             &booz_gps_state.ecef_pos.z,                \
+                            &booz_gps_state.lla_pos.lat,               \
+                            &booz_gps_state.lla_pos.lon,               \
+                            &booz_gps_state.lla_pos.alt,               \
                             &booz_gps_state.ecef_vel.x,                \
                             &booz_gps_state.ecef_vel.y,                \
                             &booz_gps_state.ecef_vel.z,                \
@@ -648,13 +657,6 @@
 #endif
 
 #include "booz2_navigation.h"
-#define PERIODIC_SEND_BOOZ2_NAV_REF(_chan) {                           \
-    DOWNLINK_SEND_BOOZ2_NAV_REF(_chan,                                 \
-                               &booz_ins_ltp_def.ecef.x,               \
-                               &booz_ins_ltp_def.ecef.y,               \
-                               &booz_ins_ltp_def.ecef.z);              \
-  }
-
 #define PERIODIC_SEND_BOOZ2_NAV_STATUS(_chan) {                                
\
     DOWNLINK_SEND_BOOZ2_NAV_STATUS(_chan,                              \
                                   &block_time,                         \
@@ -674,13 +676,19 @@
 #define PERIODIC_SEND_WP_MOVED(_chan) {                                        
\
     static uint8_t i;                                                  \
     i++; if (i >= nb_waypoint) i = 0;                                  \
-    DOWNLINK_SEND_WP_MOVED_LTP(_chan,                                  \
+    DOWNLINK_SEND_WP_MOVED_ENU(_chan,                                  \
                               &i,                                      \
                               &(waypoints[i].x),                       \
                               &(waypoints[i].y),                       \
                               &(waypoints[i].z));                      \
   }
 
+#ifdef USE_CAM
+#include "booz2_cam.h"
+#define PERIODIC_SEND_BOOZ2_CAM(_chan) 
DOWNLINK_SEND_BOOZ2_CAM(_chan,&booz2_cam_tilt,&booz2_cam_pan);
+#else
+#define PERIODIC_SEND_BOOZ2_CAM(_chan) {}
+#endif
 
 #define PERIODIC_SEND_BOOZ2_TUNE_HOVER(_chan) {                                
       \
     DOWNLINK_SEND_BOOZ2_TUNE_HOVER(_chan,                                     \
@@ -700,9 +708,14 @@
                                   );                                          \
   }
 
+#ifdef BOOZ2_SONAR
+#include "booz2_sonar.h"
+#define PERIODIC_SEND_BOOZ2_SONAR(_chan) 
DOWNLINK_SEND_BOOZ2_SONAR(_chan,&booz2_sonar_front,&booz2_sonar_back,&booz2_sonar_right,&booz2_sonar_left);
+#else
+#define PERIODIC_SEND_BOOZ2_SONAR(_chan) {}
+#endif
 
 
-
 #include "settings.h"
 #define PERIODIC_SEND_DL_VALUE(_chan) PeriodicSendDlValue(_chan)