[paparazzi-commits] [4142] flight time for booz

[Gautier Hattenberger]

Revision: 4142
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4142
Author:   gautier
Date:     2009-09-11 11:51:49 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
flight time for booz

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
    paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
    paparazzi3/trunk/sw/airborne/booz/booz2_main.c
    paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-09-11 11:49:54 UTC 
(rev 4141)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-09-11 11:51:49 UTC 
(rev 4142)
@@ -41,6 +41,8 @@
 bool_t booz2_autopilot_detect_ground;
 bool_t booz2_autopilot_detect_ground_once;
 
+uint16_t booz2_autopilot_flight_time;
+
 #define BOOZ2_AUTOPILOT_MOTOR_ON_TIME     40
 #define BOOZ2_AUTOPILOT_IN_FLIGHT_TIME    40
 #define BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD (MAX_PPRZ / 20)
@@ -56,6 +58,7 @@
   booz2_autopilot_mode_auto2 = BOOZ2_MODE_AUTO2;
   booz2_autopilot_detect_ground = FALSE;
   booz2_autopilot_detect_ground_once = FALSE;
+  booz2_autopilot_flight_time = 0;
 }
 
 

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-11 11:49:54 UTC 
(rev 4141)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-11 11:51:49 UTC 
(rev 4142)
@@ -58,6 +58,8 @@
 extern bool_t booz2_autopilot_detect_ground;
 extern bool_t booz2_autopilot_detect_ground_once;
 
+extern uint16_t booz2_autopilot_flight_time;
+
 #ifndef BOOZ2_MODE_MANUAL
 #define BOOZ2_MODE_MANUAL BOOZ2_AP_MODE_RATE_DIRECT
 #endif

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2009-09-11 11:49:54 UTC 
(rev 4141)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2009-09-11 11:51:49 UTC 
(rev 4142)
@@ -185,6 +185,10 @@
   booz2_analog_periodic();
 #endif
 
+  if (booz2_autopilot_in_flight) {
+    RunOnceEvery(512, { booz2_autopilot_flight_time++; });
+  }
+
   //  t1 = T0TC;
   //  diff = t1 - t0;
   //  RunOnceEvery(100, {DOWNLINK_SEND_TIME(&diff);});

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2009-09-11 11:49:54 UTC 
(rev 4141)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2009-09-11 11:51:49 UTC 
(rev 4142)
@@ -635,7 +635,8 @@
                            &booz2_guidance_h_pos_sp.x,                 \
                            &carrot_up,                                 \
                            &booz2_guidance_h_command_body.psi,         \
-                           &booz_stabilization_cmd[COMMAND_THRUST]);   \
+                           &booz_stabilization_cmd[COMMAND_THRUST], \
+          &booz2_autopilot_flight_time);       \
   }
 
 #ifdef USE_GPS