[paparazzi-commits] [5341] change logic so only first stm power cut message resets the state machine/ prints message.

[Paul Cox]

Revision: 5341
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5341
Author:   paulcox
Date:     2010-08-12 14:41:35 +0000 (Thu, 12 Aug 2010)
Log Message:
-----------
change logic so only first stm power cut message resets the state 
machine/prints message.

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/beth/main_overo.c

Modified: paparazzi3/trunk/sw/airborne/beth/main_overo.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_overo.c      2010-08-12 14:25:37 UTC 
(rev 5340)
+++ paparazzi3/trunk/sw/airborne/beth/main_overo.c      2010-08-12 14:41:35 UTC 
(rev 5341)
@@ -46,7 +46,7 @@
 
 
 static void main_periodic(int);
-static void main_parse_cmd_line(int argc, char *argv[]);
+//static void main_parse_cmd_line(int argc, char *argv[]);
 static void main_exit(int sig);
 static void main_talk_with_stm32(void);
 
@@ -135,8 +135,7 @@
 
   //If the stm32 cut the motors due to an error, we force the state machine 
into spinup mode.
   //when the stm32 resumes after the error, the system will need to be rearmed 
by the user.
-  //if ( (controller.armed != 0) && (msg_in.payload.msg_up.pitch_out == 
PITCH_MAGIC_NUMBER) ) {
-  if ( msg_in.payload.msg_up.pitch_out == PITCH_MAGIC_NUMBER ) {
+  if ( (controller.armed != 0) && (msg_in.payload.msg_up.pitch_out == 
PITCH_MAGIC_NUMBER) ) {
     controller.armed = 0; last_state=1;
     printf("STM cut motor power. %d %d\n",
                        
msg_in.payload.msg_up.cnt,msg_in.payload.msg_up.can_errs);
@@ -229,9 +228,9 @@
 
 }
 
-
-static void main_parse_cmd_line(int argc, char *argv[]) {
 #if 0
+static void main_parse_cmd_line(int argc, char *argv[]) {
+
   if (argc>1){
     controller.kp = atof(argv[1]);
     //    printf("kp set to %f\n",kp);
@@ -246,13 +245,13 @@
     controller.kp = 0.05;
     //    printf("using default value of kp %f\n",kp);
   }
-#endif
+/*
   if (argc>1){
     printf("args not currently supported\n");
-  }
+  }*/
 }
+#endif
 
-
 static void main_exit(int sig) {
   printf("Initiating BETH shutdown...\n");