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[paparazzi-commits] [4274] macro for nav periodic rate on booz
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4274] macro for nav periodic rate on booz |
Date: |
Mon, 19 Oct 2009 11:24:47 +0000 |
Revision: 4274
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4274
Author: gautier
Date: 2009-10-19 11:24:46 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
macro for nav periodic rate on booz
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-10-19 09:42:37 UTC
(rev 4273)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-10-19 11:24:46 UTC
(rev 4274)
@@ -71,7 +71,7 @@
void booz2_autopilot_periodic(void) {
- RunOnceEvery(32, nav_periodic_task());
+ RunOnceEvery(BOOZ2_AP_NAV_RATE, nav_periodic_task());
#ifdef BOOZ_FAILSAFE_GROUND_DETECT
if (booz2_autopilot_mode == BOOZ2_AP_MODE_FAILSAFE &&
booz2_autopilot_detect_ground) {
booz2_autopilot_set_mode(BOOZ2_AP_MODE_KILL);
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-10-19 09:42:37 UTC
(rev 4273)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-10-19 11:24:46 UTC
(rev 4274)
@@ -46,6 +46,8 @@
#define BOOZ2_AP_MODE_HOVER_Z_HOLD 11
#define BOOZ2_AP_MODE_NAV 12
+#define BOOZ2_AP_NAV_RATE 32
+
extern uint8_t booz2_autopilot_mode;
extern uint8_t booz2_autopilot_mode_auto2;
extern bool_t booz2_autopilot_motors_on;
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