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[paparazzi-commits] [4355] conditioned gps timeout mecanism with USE_GPS
From: |
antoine drouin |
Subject: |
[paparazzi-commits] [4355] conditioned gps timeout mecanism with USE_GPS |
Date: |
Fri, 27 Nov 2009 14:44:00 +0000 |
Revision: 4355
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4355
Author: poine
Date: 2009-11-27 14:43:59 +0000 (Fri, 27 Nov 2009)
Log Message:
-----------
conditioned gps timeout mecanism with USE_GPS
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/booz2_main.c
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2009-11-27 13:42:48 UTC
(rev 4354)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2009-11-27 14:43:59 UTC
(rev 4355)
@@ -170,32 +170,34 @@
/* set actuators */
actuators_set(booz2_autopilot_motors_on);
- PeriodicPrescaleBy10( \
- { \
+ PeriodicPrescaleBy10(
\
+ { \
radio_control_periodic();
\
- if (radio_control.status != RADIO_CONTROL_OK && booz2_autopilot_mode !=
BOOZ2_AP_MODE_KILL && booz2_autopilot_mode != BOOZ2_AP_MODE_NAV)\
- booz2_autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
- }, \
+ if (radio_control.status != RADIO_CONTROL_OK &&
booz2_autopilot_mode != BOOZ2_AP_MODE_KILL && booz2_autopilot_mode !=
BOOZ2_AP_MODE_NAV) \
+ booz2_autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
+ }, \
{ \
- Booz2TelemetryPeriodic(); \
+ Booz2TelemetryPeriodic();
\
}, \
{ \
- booz_fms_periodic(); \
+ booz_fms_periodic(); \
}, \
{ \
/*BoozControlSurfacesSetFromCommands();*/
\
}, \
- { if (radio_control.status != RADIO_CONTROL_OK && booz2_autopilot_mode ==
BOOZ2_AP_MODE_NAV && GpsIsLost()) \
- booz2_autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
- }, \
{},
\
{},
\
{},
\
{},
\
+ {},
\
{} \
); \
+#ifdef USE_GPS
+ if (radio_control.status != RADIO_CONTROL_OK && booz2_autopilot_mode ==
BOOZ2_AP_MODE_NAV && GpsIsLost()) \
+ booz2_autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
booz_gps_periodic();
+#endif
#ifdef USE_CAM
RunOnceEvery(50,booz2_cam_periodic());
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