[paparazzi-commits] [4154] power switch, rc switch from datalink

[Gautier Hattenberger]

Revision: 4154
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4154
Author:   gautier
Date:     2009-09-11 18:30:56 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
power switch, rc switch from datalink

Modified Paths:
--------------
    paparazzi3/trunk/conf/settings/settings_booz2.xml
    paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
    paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
    paparazzi3/trunk/sw/airborne/booz/booz2_main.c

Modified: paparazzi3/trunk/conf/settings/settings_booz2.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz2.xml   2009-09-11 17:33:22 UTC 
(rev 4153)
+++ paparazzi3/trunk/conf/settings/settings_booz2.xml   2009-09-11 18:30:56 UTC 
(rev 4154)
@@ -11,6 +11,14 @@
        </dl_setting>
        <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" 
module="booz2_autopilot" shortname="auto2" 
values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
       <dl_setting var="kill_throttle" min="0" step="1" max="1" 
module="booz2_autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
+      <dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1" 
module="booz2_autopilot" values="OFF|ON" handler="SetPowerSwitch">
+        <strip_button name="POWER ON" icon="on.png" value="1"/>
+        <strip_button name="POWER OFF" icon="off.png" value="0"/>
+      </dl_setting>
+      <dl_setting var="booz2_autopilot_rc" min="0" step="1" max="1" 
module="booz2_autopilot" values="RC OFF|RC ON">
+        <strip_button name="RC ON" value="1"/>
+        <strip_button name="RC OFF" value="0"/>
+      </dl_setting>
     </dl_settings>
 
     <dl_settings NAME="Rate Loop">

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-09-11 17:33:22 UTC 
(rev 4153)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-09-11 18:30:56 UTC 
(rev 4154)
@@ -29,6 +29,7 @@
 #include "booz2_navigation.h"
 #include "booz_guidance.h"
 #include "booz_stabilization.h"
+#include "led.h"
 
 uint8_t booz2_autopilot_mode;
 uint8_t booz2_autopilot_mode_auto2;
@@ -37,7 +38,10 @@
 uint32_t booz2_autopilot_motors_on_counter;
 uint32_t booz2_autopilot_in_flight_counter;
 bool_t kill_throttle;
+bool_t booz2_autopilot_rc;
 
+bool_t booz2_autopilot_power_switch;
+
 bool_t booz2_autopilot_detect_ground;
 bool_t booz2_autopilot_detect_ground_once;
 
@@ -59,6 +63,9 @@
   booz2_autopilot_detect_ground = FALSE;
   booz2_autopilot_detect_ground_once = FALSE;
   booz2_autopilot_flight_time = 0;
+  booz2_autopilot_rc = TRUE;
+  booz2_autopilot_power_switch = FALSE;
+  LED_ON(POWER_SWITCH_LED); // POWER OFF
 }
 
 

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-11 17:33:22 UTC 
(rev 4153)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-11 18:30:56 UTC 
(rev 4154)
@@ -49,7 +49,10 @@
 extern bool_t  booz2_autopilot_motors_on;
 extern bool_t  booz2_autopilot_in_flight;
 extern bool_t kill_throttle;
+extern bool_t booz2_autopilot_rc;
 
+extern bool_t booz2_autopilot_power_switch;
+
 extern void booz2_autopilot_init(void);
 extern void booz2_autopilot_periodic(void);
 extern void booz2_autopilot_on_rc_frame(void);
@@ -88,6 +91,11 @@
     booz2_autopilot_motors_on = !kill_throttle;                                
\
   }
 
+#define booz2_autopilot_SetPowerSwitch(_v) { \
+  booz2_autopilot_power_switch = _v; \
+  if (_v) { LED_OFF(POWER_SWITCH_LED); } \
+  else { LED_ON(POWER_SWITCH_LED); } \
+}
 
 #define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
 #define BoozDetectGroundEvent() {                                      \

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2009-09-11 17:33:22 UTC 
(rev 4153)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c      2009-09-11 18:30:56 UTC 
(rev 4154)
@@ -200,7 +200,9 @@
 
   DatalinkEvent();
 
-  RadioControlEvent(booz2_autopilot_on_rc_frame);
+  if (booz2_autopilot_rc) {
+    RadioControlEvent(booz2_autopilot_on_rc_frame);
+  }
 
   BoozImuEvent(on_gyro_accel_event, on_mag_event);