[paparazzi-commits] [4891] no timeout in booz fms if set to 0

[Gautier Hattenberger]

Revision: 4891
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4891
Author:   gautier
Date:     2010-04-28 11:38:40 +0000 (Wed, 28 Apr 2010)
Log Message:
-----------
no timeout in booz fms if set to 0

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz_fms.c

Modified: paparazzi3/trunk/sw/airborne/booz/booz_fms.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_fms.c        2010-04-28 11:32:49 UTC 
(rev 4890)
+++ paparazzi3/trunk/sw/airborne/booz/booz_fms.c        2010-04-28 11:38:40 UTC 
(rev 4891)
@@ -27,9 +27,13 @@
 #include "booz2_gps.h"
 #include "booz_ahrs.h"
 
+#include "airframe.h"
+
 struct BoozFms fms;
 
+#ifndef BOOZ_FMS_TIMEOUT
 #define BOOZ_FMS_TIMEOUT 100
+#endif
 
 void booz_fms_init(void) {
 
@@ -46,6 +50,7 @@
 }
 
 void booz_fms_periodic(void) {
+#if (BOOZ_FMS_TIMEOUT != 0)
   if (fms.last_msg < BOOZ_FMS_TIMEOUT) 
     fms.last_msg++;
   else {
@@ -55,6 +60,7 @@
     fms.input.v_mode = BOOZ2_GUIDANCE_V_MODE_CLIMB;
     fms.input.v_sp.climb = 0;
   }
+#endif
   booz_fms_impl_periodic();
 }