[paparazzi-commits] [4120] flixr airframe update

[Felix Ruess]

Revision: 4120
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4120
Author:   flixr
Date:     2009-09-09 09:16:10 +0000 (Wed, 09 Sep 2009)
Log Message:
-----------
flixr airframe update

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2009-09-09 09:08:33 UTC 
(rev 4119)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2009-09-09 09:16:10 UTC 
(rev 4120)
@@ -176,9 +176,9 @@
        </section>
 
        <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
-               <define name="MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT" />
-               <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
-               <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+               <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
+               <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+               <define name="AUTO2" value="BOOZ2_AP_MODE_NAV" />
        </section>
 
        <makefile>
@@ -192,6 +192,7 @@
                include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
                include $(CFG_BOOZ)/booz2_autopilot.makefile
                include $(CFG_BOOZ)/booz2_test_progs.makefile
+        ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
 
                include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 
@@ -207,7 +208,7 @@
                #set GPS lag for horizontal filter
                ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
 
-        ap.CFLAGS += -DBOOZ_START_DELAY=2
+        ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=2
   </makefile>
 
 </airframe>