[paparazzi-commits] [6033] removed booz fms, replace by vehicle_interface (vi) module

[Felix Ruess]

Revision: 6033
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6033
Author:   flixr
Date:     2010-09-30 19:18:46 +0000 (Thu, 30 Sep 2010)
Log Message:
-----------
removed booz fms, replace by vehicle_interface (vi) module

Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/booz/booz_fms.c
    paparazzi3/trunk/sw/airborne/booz/booz_fms.h
    paparazzi3/trunk/sw/airborne/booz/fms/

Deleted: paparazzi3/trunk/sw/airborne/booz/booz_fms.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_fms.c        2010-09-29 22:35:11 UTC 
(rev 6032)
+++ paparazzi3/trunk/sw/airborne/booz/booz_fms.c        2010-09-30 19:18:46 UTC 
(rev 6033)
@@ -1,87 +0,0 @@
-/*
- * $Id$
- *  
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
- */
-
-#include "booz_fms.h"
-
-#include <firmwares/rotorcraft/imu.h>
-#include "booz_gps.h"
-#include <firmwares/rotorcraft/ahrs.h>
-
-#include "airframe.h"
-
-struct BoozFms fms;
-
-#ifndef BOOZ_FMS_TIMEOUT
-#define BOOZ_FMS_TIMEOUT 100
-#endif
-
-void booz_fms_init(void) {
-
-  fms.enabled = FALSE;
-  fms.timeouted = TRUE;
-  fms.last_msg = BOOZ_FMS_TIMEOUT;
-
-  fms.input.h_mode = GUIDANCE_H_MODE_ATTITUDE;
-  INT_EULERS_ZERO(fms.input.h_sp.attitude);
-  fms.input.v_mode = GUIDANCE_V_MODE_CLIMB;
-  fms.input.v_sp.climb = 0;
-  booz_fms_impl_init();
-
-}
-
-void booz_fms_periodic(void) {
-#if (BOOZ_FMS_TIMEOUT != 0)
-  if (fms.last_msg < BOOZ_FMS_TIMEOUT) 
-    fms.last_msg++;
-  else {
-    fms.timeouted = TRUE;
-    fms.input.h_mode = GUIDANCE_H_MODE_ATTITUDE;
-    INT_EULERS_ZERO(fms.input.h_sp.attitude);
-    fms.input.v_mode = GUIDANCE_V_MODE_CLIMB;
-    fms.input.v_sp.climb = 0;
-  }
-#endif
-  booz_fms_impl_periodic();
-}
-
-void booz_fms_set_enabled(bool_t enabled) {
-  booz_fms_impl_set_enabled(enabled);
-
-}
-
-void booz_fms_update_info(void) {
-
-  //  PPRZ_INT16_OF_INT32_RATES(booz_fms_info.imu.gyro,  imu.gyro);
-  // PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.imu.accel, imu.accel);
-  //PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.imu.mag,   imu.mag);
-
-  //PPRZ_INT32_VECT3_COPY(booz_fms_info.gps.pos, booz_gps_state.ecef_pos);
-  //PPRZ_INT16_OF_INT32_VECT3(booz_fms_info.gps.speed, 
booz_gps_state.ecef_speed);
-  //booz_fms_info.gps.pacc = booz_gps_state.pacc;
-  //booz_fms_info.gps.num_sv = booz_gps_state.num_sv;
-  //booz_fms_info.gps.fix = booz_gps_state.fix;
-
-  //  PPRZ_INT16_OF_INT32_EULER(booz_fms_info.ahrs.euler, ahrs_state.euler)
-  //  PPRZ_INT16_OF_INT32_RATE (booz_fms_info.ahrs.rate,  ahrs_state.rate)
-
-}

Deleted: paparazzi3/trunk/sw/airborne/booz/booz_fms.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_fms.h        2010-09-29 22:35:11 UTC 
(rev 6032)
+++ paparazzi3/trunk/sw/airborne/booz/booz_fms.h        2010-09-30 19:18:46 UTC 
(rev 6033)
@@ -1,129 +0,0 @@
-/*
- * $Id$
- *
- * This is the "external interface" to the autopilot. It allows an external 
device to
- * fetch the vehicle state and input commands at different levels. We should 
support
- * different hardware peripherals like i2c, spi or uart.
- * For now we only have an implementation using datalink messages.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- */
-
-#ifndef BOOZ_FMS_H
-#define BOOZ_FMS_H
-
-#include "std.h"
-#include "math/pprz_algebra_int.h"
-#include <firmwares/rotorcraft/autopilot.h>
-#include <firmwares/rotorcraft/guidance.h>
-
-struct Booz_fms_imu_info {
-  struct Int16Vect3 gyro;
-  struct Int16Vect3 accel;
-  struct Int16Vect3 mag;
-};
-
-struct Booz_fms_gps_info {
-  struct Int32Vect3 pos;
-  struct Int16Vect3 speed;
-  int32_t pacc;
-  uint8_t num_sv;
-  uint8_t fix;
-};
-
-struct Booz_fms_ahrs_info {
-  struct Int16Eulers euler;
-  struct Int16Eulers  rate;
-};
-
-struct Booz_fms_info {
-  struct Booz_fms_imu_info  imu;
-  struct Booz_fms_gps_info  gps;
-  struct Booz_fms_ahrs_info ahrs;
-  //  struct Booz_fms_ins_info  ins;
-};
-
-struct Booz_fms_command {
-  union {
-    struct Int32Vect3  rate;
-    struct Int32Eulers attitude;
-    struct Int32Vect3 speed; //FIXME Warning z is heading rate
-    struct Int32Vect3 pos; //FIXME Warning z is heading
-  } h_sp;
-  union {
-    int32_t direct;
-    int32_t climb;
-    int32_t height;
-  } v_sp;
-  uint8_t h_mode;
-  uint8_t v_mode;
-};
-
-struct BoozFms {
-  bool_t enabled;
-  bool_t timeouted;
-  uint8_t last_msg;
-  struct Booz_fms_info info;
-  struct Booz_fms_command input;
-};
-
-extern struct BoozFms fms;
-
-extern void booz_fms_init(void);
-extern void booz_fms_set_enabled(bool_t enabled);
-extern void booz_fms_periodic(void);
-extern void booz_fms_update_info(void);
-
-/* must be implemented by specific module */
-extern void booz_fms_impl_init(void);
-extern void booz_fms_impl_periodic(void);
-extern void booz_fms_impl_set_enabled(bool_t enabled);
-
-
-#define BOOZ_FMS_TYPE_DATALINK    0
-#define BOOZ_FMS_TYPE_TEST_SIGNAL 1
-#define BOOZ_FMS_TYPE_OVERO_LINK  2
-
-#if defined BOOZ_FMS_TYPE
-#if BOOZ_FMS_TYPE == BOOZ_FMS_TYPE_DATALINK
-#include "fms/booz_fms_datalink.h"
-#elif BOOZ_FMS_TYPE == BOOZ_FMS_TYPE_TEST_SIGNAL
-#include "fms/booz_fms_test_signal.h"
-#else
-#error "booz_fms.h: Unknown BOOZ2_FMS_TYPE"
-#endif
-#else /* no FMS */
-#define  booz_fms_init() {}
-#define  booz_fms_periodic() {}
-#endif
-
-#define BOOZ2_FMS_SET_POS_SP(_pos_sp,_psi_sp) { \
-    _pos_sp.x = fms.input.h_sp.pos.x;          \
-    _pos_sp.y = fms.input.h_sp.pos.y;          \
-    /*_psi_sp = fms.input.h_sp.pos.z;*/                \
-}
-
-#define BOOZ2_FMS_POS_INIT(_pos_sp,_psi_sp) {  \
-    fms.input.h_sp.pos.x = _pos_sp.x;          \
-    fms.input.h_sp.pos.y = _pos_sp.y;          \
-    fms.input.h_sp.pos.z = _psi_sp;            \
-  }
-
-#define booz_fms_SetEnabled(_val) {            \
-    fms.enabled = _val;                                \
-    booz_fms_set_enabled(_val);                        \
-  }
-
-#endif /* BOOZ_FMS_H */