[paparazzi-commits] [4996] made RADIO_CONTROL_KILL_SWITCH optional

[antoine drouin]

Revision: 4996
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4996
Author:   poine
Date:     2010-06-21 23:24:18 +0000 (Mon, 21 Jun 2010)
Log Message:
-----------
made RADIO_CONTROL_KILL_SWITCH optional

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

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-06-21 19:42:45 UTC 
(rev 4995)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-06-21 23:24:18 UTC 
(rev 4996)
@@ -96,29 +96,24 @@
 
 #ifdef USE_RADIO_CONTROL
 #define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, 
RADIO_CONTROL_NB_CHANNEL, radio_control.values)
-#ifdef RADIO_CONTROL_KILL_SWITCH
-#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {                      \
-    DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan,                            \
-                                      
&radio_control.values[RADIO_CONTROL_ROLL], \
-                                      
&radio_control.values[RADIO_CONTROL_PITCH], \
-                                      
&radio_control.values[RADIO_CONTROL_YAW], \
-                                      
&radio_control.values[RADIO_CONTROL_THROTTLE], \
-                                      
&radio_control.values[RADIO_CONTROL_MODE], \
-                                      
&radio_control.values[RADIO_CONTROL_KILL_SWITCH], \
-                                      &radio_control.status);}
-#else //RADIO_CONTROL_KILL_SWITCH not defined
-#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {                      \
-    int16_t foo = 0;                                                    \
-    DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan,                            \
-                                      
&radio_control.values[RADIO_CONTROL_ROLL], \
-                                      
&radio_control.values[RADIO_CONTROL_PITCH], \
-                                      
&radio_control.values[RADIO_CONTROL_YAW], \
-                                      
&radio_control.values[RADIO_CONTROL_THROTTLE], \
-                                      
&radio_control.values[RADIO_CONTROL_MODE], \
-                                      &foo,                             \
-                                      &radio_control.status);}
-#endif //RADIO_CONTROL_KILL_SWITCH
-#else
+#if defined RADIO_CONTROL_KILL_SWITCH
+#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) 
SEND_BOOZ2_RADIO_CONTROL( _chan, 
&radio_control.values[RADIO_CONTROL_KILL_SWITCH])
+#else /* ! RADIO_CONTROL_KILL_SWITCH */
+#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {                             
            \
+    int16_t foo = -42;                                                         
            \
+    SEND_BOOZ2_RADIO_CONTROL( _chan, &foo)                                     
            \
+}
+#endif /* !RADIO_CONTROL_KILL_SWITCH */
+#define SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) {                        
                    \
+    DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan,                                   
            \
+                                     
&radio_control.values[RADIO_CONTROL_ROLL],            \
+                                     
&radio_control.values[RADIO_CONTROL_PITCH],           \
+                                     &radio_control.values[RADIO_CONTROL_YAW], 
            \
+                                     
&radio_control.values[RADIO_CONTROL_THROTTLE],        \
+                                     
&radio_control.values[RADIO_CONTROL_MODE],            \
+                                     _kill_switch,                             
           \
+                                     &radio_control.status);}
+#else /* ! USE_RADIO_CONTROL */
 #define PERIODIC_SEND_RC(_chan) {}
 #define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {}
 #endif