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[paparazzi-commits] [5966] rename BOOZ_FAILSAFE_GROUND_DETECT to FAILSAF
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From: |
Felix Ruess |
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Subject: |
[paparazzi-commits] [5966] rename BOOZ_FAILSAFE_GROUND_DETECT to FAILSAFE_GROUND_DETECT |
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Date: |
Mon, 27 Sep 2010 22:55:20 +0000 |
Revision: 5966
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5966
Author: flixr
Date: 2010-09-27 22:55:20 +0000 (Mon, 27 Sep 2010)
Log Message:
-----------
rename BOOZ_FAILSAFE_GROUND_DETECT to FAILSAFE_GROUND_DETECT
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml
paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml
paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2010-09-27
22:55:20 UTC (rev 5966)
@@ -220,7 +220,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml 2010-09-27
22:55:20 UTC (rev 5966)
@@ -8,7 +8,7 @@
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
- <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+ <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml 2010-09-27
22:55:20 UTC (rev 5966)
@@ -231,7 +231,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml 2010-09-27
22:55:20 UTC (rev 5966)
@@ -278,7 +278,7 @@
<define name="GPS_LAG" value = "0.8"/>
<define name="BOOZ_START_DELAY" value = "3"/>
<!-- <define name="KILL_MOTORS"/> -->
- <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+ <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
@@ -340,7 +340,7 @@
#stuff from nova below
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml 2010-09-27
22:55:20 UTC (rev 5966)
@@ -238,7 +238,7 @@
<define name="BOOZ_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> -->
- <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+ <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
@@ -276,7 +276,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
# radio killswitch
ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
2010-09-27 22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
2010-09-27 22:55:20 UTC (rev 5966)
@@ -70,18 +70,18 @@
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints -->
- <define name="SP_MAX_P" value="10000" />
- <define name="SP_MAX_Q" value="10000" />
- <define name="SP_MAX_R" value="10000" />
+ <define name="SP_MAX_P" value="10000" />
+ <define name="SP_MAX_Q" value="10000" />
+ <define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
- <define name="GAIN_P" value="-400" />
- <define name="GAIN_Q" value="-400" />
- <define name="GAIN_R" value="-350" />
+ <define name="GAIN_P" value="-400" />
+ <define name="GAIN_Q" value="-400" />
+ <define name="GAIN_R" value="-350" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
@@ -91,7 +91,7 @@
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
- </section>
+ </section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
@@ -152,23 +152,23 @@
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="MIN_MOTOR" value="2" />
- <define name="MAX_MOTOR" value="210" />
- <define name="TRIM_A" value="0" />
- <define name="TRIM_E" value="0" />
- <define name="TRIM_R" value="0" />
- <define name="NB_MOTOR" value="4" />
- <define name="SCALE" value="256"/>
- <define name="ROLL_COEF" value="{ 0, 0, -256, 256}" />
- <define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
- <define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
- <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
- </section>
+ <define name="MIN_MOTOR" value="2" />
+ <define name="MAX_MOTOR" value="210" />
+ <define name="TRIM_A" value="0" />
+ <define name="TRIM_E" value="0" />
+ <define name="TRIM_R" value="0" />
+ <define name="NB_MOTOR" value="4" />
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ 0, 0, -256, 256}" />
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
+ <define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
+ </section>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
- <define name="NB" value="4" />
- <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
- </section>
+ <define name="NB" value="4" />
+ <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
+ </section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="14.9" integer="16"/>
@@ -232,7 +232,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
# radio killswitch
ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
@@ -249,7 +249,7 @@
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
-ap.CFLAGS += -DGPS_LAG=0.8
+ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
Modified: paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/booz2_a1000.xml 2010-09-27
22:55:20 UTC (rev 5966)
@@ -301,7 +301,7 @@
#stuff from nova below
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml 2010-09-27 22:55:12 UTC
(rev 5965)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml 2010-09-27 22:55:20 UTC
(rev 5966)
@@ -231,7 +231,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+#ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
#ap.CFLAGS += -DMODEM_BAUD=B38400
ap.CFLAGS += -DMODEM_BAUD=B57600
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml 2010-09-27 22:55:12 UTC
(rev 5965)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa_001.xml 2010-09-27 22:55:20 UTC
(rev 5966)
@@ -232,7 +232,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml 2010-09-27 22:55:12 UTC
(rev 5965)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa_002.xml 2010-09-27 22:55:20 UTC
(rev 5966)
@@ -232,7 +232,7 @@
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
-#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+#ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
#ap.CFLAGS += -DMODEM_BAUD=B38400
ap.CFLAGS += -DMODEM_BAUD=B57600
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-09-27 22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-09-27 22:55:20 UTC (rev 5966)
@@ -31,19 +31,19 @@
#include "booz_stabilization.h"
#include "led.h"
-uint8_t autopilot_mode;
-uint8_t autopilot_mode_auto2;
-bool_t autopilot_motors_on;
-bool_t autopilot_in_flight;
+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 autopilot_rc;
+bool_t kill_throttle;
+bool_t autopilot_rc;
-bool_t autopilot_power_switch;
+bool_t autopilot_power_switch;
-bool_t autopilot_detect_ground;
-bool_t autopilot_detect_ground_once;
+bool_t autopilot_detect_ground;
+bool_t autopilot_detect_ground_once;
uint16_t autopilot_flight_time;
@@ -72,14 +72,14 @@
void autopilot_periodic(void) {
RunOnceEvery(BOOZ2_NAV_PRESCALER, nav_periodic_task());
-#ifdef BOOZ_FAILSAFE_GROUND_DETECT
+#ifdef FAILSAFE_GROUND_DETECT
if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && autopilot_detect_ground) {
autopilot_set_mode(BOOZ2_AP_MODE_KILL);
autopilot_detect_ground = FALSE;
}
#endif
if ( !autopilot_motors_on ||
-#ifndef BOOZ_FAILSAFE_GROUND_DETECT
+#ifndef FAILSAFE_GROUND_DETECT
autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
#endif
autopilot_mode == BOOZ2_AP_MODE_KILL ) {
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-27
22:55:12 UTC (rev 5965)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-27
22:55:20 UTC (rev 5966)
@@ -207,7 +207,7 @@
BoozGpsEvent(on_gps_event);
#endif
-#ifdef BOOZ_FAILSAFE_GROUND_DETECT
+#ifdef FAILSAFE_GROUND_DETECT
BoozDetectGroundEvent();
#endif
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- [paparazzi-commits] [5966] rename BOOZ_FAILSAFE_GROUND_DETECT to FAILSAFE_GROUND_DETECT,
Felix Ruess <=