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[paparazzi-commits] [5965] remove booz2_ prefix in autopilot variables,
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5965] remove booz2_ prefix in autopilot variables, functions, etc. |
|
Date: |
Mon, 27 Sep 2010 22:55:13 +0000 |
Revision: 5965
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5965
Author: flixr
Date: 2010-09-27 22:55:12 +0000 (Mon, 27 Sep 2010)
Log Message:
-----------
remove booz2_ prefix in autopilot variables, functions, etc. ..
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
paparazzi3/trunk/conf/settings/booz_dc.xml
paparazzi3/trunk/conf/settings/settings_booz2.xml
paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c
paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-09-27 22:55:01 UTC (rev 5964)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-09-27 22:55:12 UTC (rev 5965)
@@ -1,5 +1,5 @@
#
-# $Id: booz2_autopilot.makefile 4827 2010-04-21 08:02:18Z poine $
+# $Id: autopilot.makefile 4827 2010-04-21 08:02:18Z poine $
#
# Copyright (C) 2008 Antoine Drouin
#
Modified: paparazzi3/trunk/conf/settings/booz_dc.xml
===================================================================
--- paparazzi3/trunk/conf/settings/booz_dc.xml 2010-09-27 22:55:01 UTC (rev
5964)
+++ paparazzi3/trunk/conf/settings/booz_dc.xml 2010-09-27 22:55:12 UTC (rev
5965)
@@ -3,7 +3,7 @@
<settings>
<dl_settings>
<dl_settings NAME="DC">
- <dl_setting MAX="1" MIN="0" STEP="1" VAR="booz2_autopilot_power_switch"
module="autopilot" handler="SetPowerSwitch" shortname="Shutter">
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="autopilot_power_switch"
module="autopilot" handler="SetPowerSwitch" shortname="Shutter">
<strip_button name="Photo" icon="digital-camera.png" value="1"/>
<strip_button name="Photo Off" icon="digital-camera-off.png" value="0"/>
</dl_setting>
Modified: paparazzi3/trunk/conf/settings/settings_booz2.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz2.xml 2010-09-27 22:55:01 UTC
(rev 5964)
+++ paparazzi3/trunk/conf/settings/settings_booz2.xml 2010-09-27 22:55:12 UTC
(rev 5965)
@@ -9,13 +9,13 @@
<key_press key="v" value="7"/>
<key_press key="h" value="8"/>
</dl_setting>
- <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12"
module="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="autopilot_mode_auto2" min="0" step="1" max="12"
module="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="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
- <dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1"
module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
+ <dl_setting var="autopilot_power_switch" min="0" step="1" max="1"
module="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="autopilot" values="RC OFF|RC ON">
+ <dl_setting var="autopilot_rc" min="0" step="1" max="1"
module="autopilot" values="RC OFF|RC ON">
<strip_button name="RC ON" value="1"/>
<strip_button name="RC OFF" value="0"/>
</dl_setting>
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c 2010-09-27
22:55:01 UTC (rev 5964)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c 2010-09-27
22:55:12 UTC (rev 5965)
@@ -335,8 +335,8 @@
}
bool_t nav_detect_ground(void) {
- if (!booz2_autopilot_detect_ground) return FALSE;
- booz2_autopilot_detect_ground = FALSE;
+ if (!autopilot_detect_ground) return FALSE;
+ autopilot_detect_ground = FALSE;
return TRUE;
}
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h 2010-09-27
22:55:01 UTC (rev 5964)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h 2010-09-27
22:55:12 UTC (rev 5965)
@@ -82,8 +82,8 @@
void nav_home(void);
-#define NavKillThrottle() ({ if (booz2_autopilot_mode == BOOZ2_AP_MODE_NAV) {
kill_throttle = 1; booz2_autopilot_motors_on = 0; } FALSE; })
-#define NavResurrect() ({ if (booz2_autopilot_mode == BOOZ2_AP_MODE_NAV) {
kill_throttle = 0; booz2_autopilot_motors_on = 1; } FALSE; })
+#define NavKillThrottle() ({ if (autopilot_mode == BOOZ2_AP_MODE_NAV) {
kill_throttle = 1; autopilot_motors_on = 0; } FALSE; })
+#define NavResurrect() ({ if (autopilot_mode == BOOZ2_AP_MODE_NAV) {
kill_throttle = 0; autopilot_motors_on = 1; } FALSE; })
#define InitStage() nav_init_stage();
@@ -195,7 +195,7 @@
nav_roll = ANGLE_BFP_OF_REAL(_roll); \
}
-#define NavStartDetectGround() ({ booz2_autopilot_detect_ground_once = TRUE;
FALSE; })
+#define NavStartDetectGround() ({ autopilot_detect_ground_once = TRUE; FALSE;
})
#define NavDetectGround() nav_detect_ground()
#define nav_IncreaseShift(x) {}
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-27 22:55:01 UTC
(rev 5964)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-27 22:55:12 UTC
(rev 5965)
@@ -64,9 +64,9 @@
&_twi_blmc_nb_err, \
&radio_control.status, \
&booz_gps_state.fix, \
- &booz2_autopilot_mode, \
- &booz2_autopilot_in_flight, \
- &booz2_autopilot_motors_on, \
+ &autopilot_mode, \
+ &autopilot_in_flight, \
+ &autopilot_motors_on, \
&booz2_guidance_h_mode, \
&booz2_guidance_v_mode, \
&booz2_battery_voltage, \
@@ -83,9 +83,9 @@
&twi_blmc_nb_err, \
&radio_control.status, \
&fix, \
- &booz2_autopilot_mode, \
- &booz2_autopilot_in_flight, \
- &booz2_autopilot_motors_on, \
+ &autopilot_mode, \
+ &autopilot_in_flight, \
+ &autopilot_motors_on, \
&booz2_guidance_h_mode, \
&booz2_guidance_v_mode, \
&booz2_battery_voltage, \
@@ -678,7 +678,7 @@
&carrot_up, \
&booz2_guidance_h_command_body.psi, \
&booz_stabilization_cmd[COMMAND_THRUST], \
- &booz2_autopilot_flight_time); \
+ &autopilot_flight_time); \
}
#ifdef USE_GPS
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-09-27 22:55:01 UTC (rev 5964)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-09-27 22:55:12 UTC (rev 5965)
@@ -31,74 +31,74 @@
#include "booz_stabilization.h"
#include "led.h"
-uint8_t booz2_autopilot_mode;
-uint8_t booz2_autopilot_mode_auto2;
-bool_t booz2_autopilot_motors_on;
-bool_t booz2_autopilot_in_flight;
-uint32_t booz2_autopilot_motors_on_counter;
-uint32_t booz2_autopilot_in_flight_counter;
+uint8_t autopilot_mode;
+uint8_t autopilot_mode_auto2;
+bool_t autopilot_motors_on;
+bool_t autopilot_in_flight;
+uint32_t autopilot_motors_on_counter;
+uint32_t autopilot_in_flight_counter;
bool_t kill_throttle;
-bool_t booz2_autopilot_rc;
+bool_t autopilot_rc;
-bool_t booz2_autopilot_power_switch;
+bool_t autopilot_power_switch;
-bool_t booz2_autopilot_detect_ground;
-bool_t booz2_autopilot_detect_ground_once;
+bool_t autopilot_detect_ground;
+bool_t autopilot_detect_ground_once;
-uint16_t booz2_autopilot_flight_time;
+uint16_t autopilot_flight_time;
-#define BOOZ2_AUTOPILOT_MOTOR_ON_TIME 40
-#define BOOZ2_AUTOPILOT_IN_FLIGHT_TIME 40
-#define BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD (MAX_PPRZ / 20)
-#define BOOZ2_AUTOPILOT_YAW_TRESHOLD (MAX_PPRZ * 19 / 20)
+#define AUTOPILOT_MOTOR_ON_TIME 40
+#define AUTOPILOT_IN_FLIGHT_TIME 40
+#define AUTOPILOT_THROTTLE_TRESHOLD (MAX_PPRZ / 20)
+#define AUTOPILOT_YAW_TRESHOLD (MAX_PPRZ * 19 / 20)
-void booz2_autopilot_init(void) {
- booz2_autopilot_mode = BOOZ2_AP_MODE_KILL;
- booz2_autopilot_motors_on = FALSE;
- booz2_autopilot_in_flight = FALSE;
- kill_throttle = ! booz2_autopilot_motors_on;
- booz2_autopilot_motors_on_counter = 0;
- booz2_autopilot_in_flight_counter = 0;
- booz2_autopilot_mode_auto2 = BOOZ2_MODE_AUTO2;
- 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;
+void autopilot_init(void) {
+ autopilot_mode = BOOZ2_AP_MODE_KILL;
+ autopilot_motors_on = FALSE;
+ autopilot_in_flight = FALSE;
+ kill_throttle = ! autopilot_motors_on;
+ autopilot_motors_on_counter = 0;
+ autopilot_in_flight_counter = 0;
+ autopilot_mode_auto2 = BOOZ2_MODE_AUTO2;
+ autopilot_detect_ground = FALSE;
+ autopilot_detect_ground_once = FALSE;
+ autopilot_flight_time = 0;
+ autopilot_rc = TRUE;
+ autopilot_power_switch = FALSE;
LED_ON(POWER_SWITCH_LED); // POWER OFF
}
-void booz2_autopilot_periodic(void) {
+void autopilot_periodic(void) {
RunOnceEvery(BOOZ2_NAV_PRESCALER, 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);
- booz2_autopilot_detect_ground = FALSE;
+ if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && autopilot_detect_ground) {
+ autopilot_set_mode(BOOZ2_AP_MODE_KILL);
+ autopilot_detect_ground = FALSE;
}
#endif
- if ( !booz2_autopilot_motors_on ||
+ if ( !autopilot_motors_on ||
#ifndef BOOZ_FAILSAFE_GROUND_DETECT
- booz2_autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
+ autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
#endif
- booz2_autopilot_mode == BOOZ2_AP_MODE_KILL ) {
+ autopilot_mode == BOOZ2_AP_MODE_KILL ) {
SetCommands(booz2_commands_failsafe,
- booz2_autopilot_in_flight, booz2_autopilot_motors_on);
+ autopilot_in_flight, autopilot_motors_on);
}
else {
- booz2_guidance_v_run( booz2_autopilot_in_flight );
- booz2_guidance_h_run( booz2_autopilot_in_flight );
+ booz2_guidance_v_run( autopilot_in_flight );
+ booz2_guidance_h_run( autopilot_in_flight );
SetCommands(booz_stabilization_cmd,
- booz2_autopilot_in_flight, booz2_autopilot_motors_on);
+ autopilot_in_flight, autopilot_motors_on);
}
}
-void booz2_autopilot_set_mode(uint8_t new_autopilot_mode) {
+void autopilot_set_mode(uint8_t new_autopilot_mode) {
- if (new_autopilot_mode != booz2_autopilot_mode) {
+ if (new_autopilot_mode != autopilot_mode) {
/* horizontal mode */
switch (new_autopilot_mode) {
case BOOZ2_AP_MODE_FAILSAFE:
@@ -109,7 +109,7 @@
break;
#endif
case BOOZ2_AP_MODE_KILL:
- booz2_autopilot_motors_on = FALSE;
+ autopilot_motors_on = FALSE;
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_KILL);
break;
case BOOZ2_AP_MODE_RATE_DIRECT:
@@ -167,93 +167,93 @@
default:
break;
}
- booz2_autopilot_mode = new_autopilot_mode;
+ autopilot_mode = new_autopilot_mode;
}
}
#define THROTTLE_STICK_DOWN() \
- (radio_control.values[RADIO_CONTROL_THROTTLE] <
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD)
+ (radio_control.values[RADIO_CONTROL_THROTTLE] < AUTOPILOT_THROTTLE_TRESHOLD)
#define YAW_STICK_PUSHED() \
- (radio_control.values[RADIO_CONTROL_YAW] > BOOZ2_AUTOPILOT_YAW_TRESHOLD || \
- radio_control.values[RADIO_CONTROL_YAW] < -BOOZ2_AUTOPILOT_YAW_TRESHOLD)
+ (radio_control.values[RADIO_CONTROL_YAW] > AUTOPILOT_YAW_TRESHOLD || \
+ radio_control.values[RADIO_CONTROL_YAW] < -AUTOPILOT_YAW_TRESHOLD)
-static inline void booz2_autopilot_check_in_flight( void) {
- if (booz2_autopilot_in_flight) {
- if (booz2_autopilot_in_flight_counter > 0) {
+static inline void autopilot_check_in_flight( void) {
+ if (autopilot_in_flight) {
+ if (autopilot_in_flight_counter > 0) {
if (THROTTLE_STICK_DOWN()) {
- booz2_autopilot_in_flight_counter--;
- if (booz2_autopilot_in_flight_counter == 0) {
- booz2_autopilot_in_flight = FALSE;
+ autopilot_in_flight_counter--;
+ if (autopilot_in_flight_counter == 0) {
+ autopilot_in_flight = FALSE;
}
}
else { /* !THROTTLE_STICK_DOWN */
- booz2_autopilot_in_flight_counter = BOOZ2_AUTOPILOT_IN_FLIGHT_TIME;
+ autopilot_in_flight_counter = AUTOPILOT_IN_FLIGHT_TIME;
}
}
}
else { /* not in flight */
- if (booz2_autopilot_in_flight_counter < BOOZ2_AUTOPILOT_IN_FLIGHT_TIME &&
- booz2_autopilot_motors_on) {
+ if (autopilot_in_flight_counter < AUTOPILOT_IN_FLIGHT_TIME &&
+ autopilot_motors_on) {
if (!THROTTLE_STICK_DOWN()) {
- booz2_autopilot_in_flight_counter++;
- if (booz2_autopilot_in_flight_counter ==
BOOZ2_AUTOPILOT_IN_FLIGHT_TIME)
- booz2_autopilot_in_flight = TRUE;
+ autopilot_in_flight_counter++;
+ if (autopilot_in_flight_counter == AUTOPILOT_IN_FLIGHT_TIME)
+ autopilot_in_flight = TRUE;
}
else { /* THROTTLE_STICK_DOWN */
- booz2_autopilot_in_flight_counter = 0;
+ autopilot_in_flight_counter = 0;
}
}
}
}
-static inline void booz2_autopilot_check_motors_on( void ) {
- if (booz2_autopilot_motors_on) {
+static inline void autopilot_check_motors_on( void ) {
+ if (autopilot_motors_on) {
if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) {
- if ( booz2_autopilot_motors_on_counter > 0) {
- booz2_autopilot_motors_on_counter--;
- if (booz2_autopilot_motors_on_counter == 0)
- booz2_autopilot_motors_on = FALSE;
+ if ( autopilot_motors_on_counter > 0) {
+ autopilot_motors_on_counter--;
+ if (autopilot_motors_on_counter == 0)
+ autopilot_motors_on = FALSE;
}
}
else { /* sticks not in the corner */
- booz2_autopilot_motors_on_counter = BOOZ2_AUTOPILOT_MOTOR_ON_TIME;
+ autopilot_motors_on_counter = AUTOPILOT_MOTOR_ON_TIME;
}
}
else { /* motors off */
if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) {
- if ( booz2_autopilot_motors_on_counter < BOOZ2_AUTOPILOT_MOTOR_ON_TIME)
{
- booz2_autopilot_motors_on_counter++;
- if (booz2_autopilot_motors_on_counter == BOOZ2_AUTOPILOT_MOTOR_ON_TIME)
- booz2_autopilot_motors_on = TRUE;
+ if ( autopilot_motors_on_counter < AUTOPILOT_MOTOR_ON_TIME) {
+ autopilot_motors_on_counter++;
+ if (autopilot_motors_on_counter == AUTOPILOT_MOTOR_ON_TIME)
+ autopilot_motors_on = TRUE;
}
}
else {
- booz2_autopilot_motors_on_counter = 0;
+ autopilot_motors_on_counter = 0;
}
}
}
-void booz2_autopilot_on_rc_frame(void) {
+void autopilot_on_rc_frame(void) {
uint8_t new_autopilot_mode = 0;
BOOZ_AP_MODE_OF_PPRZ(radio_control.values[RADIO_CONTROL_MODE],
new_autopilot_mode);
- booz2_autopilot_set_mode(new_autopilot_mode);
+ autopilot_set_mode(new_autopilot_mode);
#ifdef RADIO_CONTROL_KILL_SWITCH
if (radio_control.values[RADIO_CONTROL_KILL_SWITCH] < 0)
- booz2_autopilot_set_mode(BOOZ2_AP_MODE_KILL);
+ autopilot_set_mode(BOOZ2_AP_MODE_KILL);
#endif
- booz2_autopilot_check_motors_on();
- booz2_autopilot_check_in_flight();
- kill_throttle = !booz2_autopilot_motors_on;
+ autopilot_check_motors_on();
+ autopilot_check_in_flight();
+ kill_throttle = !autopilot_motors_on;
- if (booz2_autopilot_mode > BOOZ2_AP_MODE_FAILSAFE) {
+ if (autopilot_mode > BOOZ2_AP_MODE_FAILSAFE) {
booz2_guidance_v_read_rc();
- booz2_guidance_h_read_rc(booz2_autopilot_in_flight);
+ booz2_guidance_h_read_rc(autopilot_in_flight);
}
}
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.h
2010-09-27 22:55:01 UTC (rev 5964)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.h
2010-09-27 22:55:12 UTC (rev 5965)
@@ -47,24 +47,24 @@
#define BOOZ2_AP_MODE_NAV 12
-extern uint8_t booz2_autopilot_mode;
-extern uint8_t booz2_autopilot_mode_auto2;
-extern bool_t booz2_autopilot_motors_on;
-extern bool_t booz2_autopilot_in_flight;
+extern uint8_t autopilot_mode;
+extern uint8_t autopilot_mode_auto2;
+extern bool_t autopilot_motors_on;
+extern bool_t autopilot_in_flight;
extern bool_t kill_throttle;
-extern bool_t booz2_autopilot_rc;
+extern bool_t autopilot_rc;
-extern bool_t booz2_autopilot_power_switch;
+extern bool_t autopilot_power_switch;
-extern void booz2_autopilot_init(void);
-extern void booz2_autopilot_periodic(void);
-extern void booz2_autopilot_on_rc_frame(void);
-extern void booz2_autopilot_set_mode(uint8_t new_autopilot_mode);
+extern void autopilot_init(void);
+extern void autopilot_periodic(void);
+extern void autopilot_on_rc_frame(void);
+extern void autopilot_set_mode(uint8_t new_autopilot_mode);
-extern bool_t booz2_autopilot_detect_ground;
-extern bool_t booz2_autopilot_detect_ground_once;
+extern bool_t autopilot_detect_ground;
+extern bool_t autopilot_detect_ground_once;
-extern uint16_t booz2_autopilot_flight_time;
+extern uint16_t autopilot_flight_time;
#ifndef BOOZ2_MODE_MANUAL
#define BOOZ2_MODE_MANUAL BOOZ2_AP_MODE_RATE_DIRECT
@@ -82,7 +82,7 @@
#define BOOZ_AP_MODE_OF_PPRZ(_rc, _booz_mode) {
\
if (_rc > TRESHOLD_2_PPRZ) \
- _booz_mode = booz2_autopilot_mode_auto2; \
+ _booz_mode = autopilot_mode_auto2; \
else if (_rc > TRESHOLD_1_PPRZ) \
_booz_mode = BOOZ2_MODE_AUTO1; \
else \
@@ -91,12 +91,12 @@
#define autopilot_KillThrottle(_v) { \
kill_throttle = _v;
\
- if (kill_throttle) booz2_autopilot_motors_on = FALSE;
\
- else booz2_autopilot_motors_on = TRUE; \
+ if (kill_throttle) autopilot_motors_on = FALSE;
\
+ else autopilot_motors_on = TRUE; \
}
#define autopilot_SetPowerSwitch(_v) { \
- booz2_autopilot_power_switch = _v; \
+ autopilot_power_switch = _v; \
if (_v) { LED_OFF(POWER_SWITCH_LED); } \
else { LED_ON(POWER_SWITCH_LED); } \
}
@@ -105,11 +105,11 @@
#define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
#endif
static inline void BoozDetectGroundEvent(void) {
- if (booz2_autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
booz2_autopilot_detect_ground_once) {
+ if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
autopilot_detect_ground_once) {
if (booz_ins_ltp_accel.z < -TRESHOLD_GROUND_DETECT ||
booz_ins_ltp_accel.z > TRESHOLD_GROUND_DETECT) {
- booz2_autopilot_detect_ground = TRUE;
- booz2_autopilot_detect_ground_once = FALSE;
+ autopilot_detect_ground = TRUE;
+ autopilot_detect_ground_once = FALSE;
}
}
}
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-27
22:55:01 UTC (rev 5964)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-27
22:55:12 UTC (rev 5965)
@@ -113,7 +113,7 @@
booz_imu_init();
booz_fms_init();
- booz2_autopilot_init();
+ autopilot_init();
booz2_nav_init();
booz2_guidance_h_init();
booz2_guidance_v_init();
@@ -140,17 +140,17 @@
booz_imu_periodic();
/* run control loops */
- booz2_autopilot_periodic();
+ autopilot_periodic();
/* set actuators */
- actuators_set(booz2_autopilot_motors_on);
+ actuators_set(autopilot_motors_on);
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); \
+ autopilot_mode != BOOZ2_AP_MODE_KILL && \
+ autopilot_mode != BOOZ2_AP_MODE_NAV) \
+ autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
}, \
{ \
booz_fms_periodic(); \
@@ -174,8 +174,8 @@
#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); \
+ autopilot_mode == BOOZ2_AP_MODE_NAV && GpsIsLost()) \
+ autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
booz_gps_periodic();
#endif
@@ -185,8 +185,8 @@
modules_periodic_task();
- if (booz2_autopilot_in_flight) {
- RunOnceEvery(512, { booz2_autopilot_flight_time++; datalink_time++; });
+ if (autopilot_in_flight) {
+ RunOnceEvery(512, { autopilot_flight_time++; datalink_time++; });
}
}
@@ -195,8 +195,8 @@
DatalinkEvent();
- if (booz2_autopilot_rc) {
- RadioControlEvent(booz2_autopilot_on_rc_frame);
+ if (autopilot_rc) {
+ RadioControlEvent(autopilot_on_rc_frame);
}
BoozImuEvent(on_gyro_accel_event, on_mag_event);
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- [paparazzi-commits] [5965] remove booz2_ prefix in autopilot variables, functions, etc.,
Felix Ruess <=