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[paparazzi-commits] [5667] added a skeleton for vi_overo_link
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5667] added a skeleton for vi_overo_link |
|
Date: |
Tue, 24 Aug 2010 23:06:39 +0000 |
Revision: 5667
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5667
Author: poine
Date: 2010-08-24 23:06:39 +0000 (Tue, 24 Aug 2010)
Log Message:
-----------
added a skeleton for vi_overo_link
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h
Added Paths:
-----------
paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-08-24 22:45:58 UTC
(rev 5666)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-08-24 23:06:39 UTC
(rev 5667)
@@ -177,7 +177,7 @@
<!-- -->
<modules main_freq="512">
- <load name="vehicle_interface_datalink.xml"/>
+ <load name="vehicle_interface_overo_link.xml"/>
</modules>
<!-- -->
Added: paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
===================================================================
--- paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
(rev 0)
+++ paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
2010-08-24 23:06:39 UTC (rev 5667)
@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="vi_overo_link" dir="vehicle_interface">
+ <header>
+ <file name="vi_overo_link.h"/>
+ </header>
+ <init fun="vi_init()"/>
+ <periodic fun="vi_periodic()" freq="25"/>
+ <makefile>
+ <file name="vi.c"/>
+ <file name="vi_overo_link.c"/>
+ <!-- <file name="lisa/lisa_overo_link.c"/> -->
+ </makefile>
+</module>
+
+
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h 2010-08-24
22:45:58 UTC (rev 5666)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.h 2010-08-24
23:06:39 UTC (rev 5667)
@@ -1,7 +1,7 @@
/*
* $Id: $
*
- * Copyright (C) 2008-2010 The Paparazzi Team
+ * Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -97,7 +97,7 @@
extern void vi_impl_set_enabled(bool_t enabled);
-#define vi_SetEnabled(_val) { \
+#define vi_SetEnabled(_val) { \
vi.enabled = _val; \
vi_set_enabled(_val); \
}
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.c
2010-08-24 22:45:58 UTC (rev 5666)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.c
2010-08-24 23:06:39 UTC (rev 5667)
@@ -1,7 +1,7 @@
/*
- * $Id: $
+ * $Id$
*
- * Copyright (C) 2008-2010 The Paparazzi Team
+ * Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "vehicle_interface/vi_datalink.h"
+#include "modules/vehicle_interface/vi_datalink.h"
void vi_impl_init(void) {
}
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h
2010-08-24 22:45:58 UTC (rev 5666)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h
2010-08-24 23:06:39 UTC (rev 5667)
@@ -1,6 +1,8 @@
/*
- * $Id: booz_fms_datalink.h 5216 2010-08-04 17:13:43Z gautier $
+ * $Id$
*
+ * Copyright (C) 2010 The Paparazzi Team
+ *
* This is the implementation of the "external interface" to the autopilot.
* using datalink messages.
*
@@ -23,7 +25,7 @@
#define VEHICLE_INTERFACE_DATALINK_H
#include "std.h"
-#include "vehicle_interface/vi.h"
+#include "modules/vehicle_interface/vi.h"
#include "math/pprz_algebra_int.h"
#ifndef VI_MAX_H_SPEED
@@ -41,59 +43,63 @@
extern void vi_update_wp(uint8_t wp_id);
#ifdef VI_PHI_THETA_MAX
-#define VI_LIMIT_ATTITUDE(_att) { \
- BoundAbs(_att.phi, VI_PHI_THETA_MAX); \
- BoundAbs(_att.theta, VI_PHI_THETA_MAX); \
-}
+#define VI_LIMIT_ATTITUDE(_att) { \
+ BoundAbs(_att.phi, VI_PHI_THETA_MAX); \
+ BoundAbs(_att.theta, VI_PHI_THETA_MAX); \
+ }
#else
#define VI_LIMIT_ATTITUDE(_x) {}
#endif
-#define VI_PARSE_DATALINK(_dl_buffer) { \
- vi.last_msg = 0; \
- vi.input.h_mode = DL_BOOZ2_FMS_COMMAND_h_mode(_dl_buffer); \
- vi.input.v_mode = DL_BOOZ2_FMS_COMMAND_v_mode(_dl_buffer); \
- switch (vi.input.h_mode) { \
+#define VI_PARSE_DATALINK(_dl_buffer) {
\
+ vi.last_msg = 0; \
+ vi.input.h_mode = DL_BOOZ2_FMS_COMMAND_h_mode(_dl_buffer); \
+ vi.input.v_mode = DL_BOOZ2_FMS_COMMAND_v_mode(_dl_buffer); \
+ switch (vi.input.h_mode) { \
case BOOZ2_GUIDANCE_H_MODE_KILL: \
case BOOZ2_GUIDANCE_H_MODE_RATE : \
break; \
case BOOZ2_GUIDANCE_H_MODE_ATTITUDE : \
{
\
- vi.input.h_sp.attitude.phi =
DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
- vi.input.h_sp.attitude.theta =
DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
- vi.input.h_sp.attitude.psi =
DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
- ANGLE_REF_NORMALIZE(vi.input.h_sp.attitude.psi); \
- VI_LIMIT_ATTITUDE(vi.input.h_sp.attitude); \
+ vi.input.h_sp.attitude.phi = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer);
\
+ vi.input.h_sp.attitude.theta =
DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
+ vi.input.h_sp.attitude.psi =
DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
+ ANGLE_REF_NORMALIZE(vi.input.h_sp.attitude.psi); \
+ VI_LIMIT_ATTITUDE(vi.input.h_sp.attitude); \
}
\
- break; \
+ break; \
case BOOZ2_GUIDANCE_H_MODE_HOVER : \
{
\
- vi.input.h_sp.pos.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer);
\
- vi.input.h_sp.pos.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer);
\
+ vi.input.h_sp.pos.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
+ vi.input.h_sp.pos.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
}
\
- break; \
+ break; \
case BOOZ2_GUIDANCE_H_MODE_NAV : \
- { \
+ {
\
vi.input.h_sp.speed.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
vi.input.h_sp.speed.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
vi.input.h_sp.speed.z = DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
- } \
+ }
\
break; \
+ default: \
+ break; \
} \
- switch (vi.input.v_mode) { \
+ switch (vi.input.v_mode) { \
case BOOZ2_GUIDANCE_V_MODE_KILL: \
case BOOZ2_GUIDANCE_V_MODE_RC_DIRECT: \
case BOOZ2_GUIDANCE_V_MODE_RC_CLIMB: \
break; \
case BOOZ2_GUIDANCE_V_MODE_CLIMB : \
- vi.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
+ vi.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
break; \
case BOOZ2_GUIDANCE_V_MODE_HOVER : \
- vi.input.v_sp.height = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
+ vi.input.v_sp.height = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
break; \
case BOOZ2_GUIDANCE_V_MODE_NAV : \
- vi.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
+ vi.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
break; \
+ default: \
+ break; \
} \
}
Added: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
2010-08-24 23:06:39 UTC (rev 5667)
@@ -0,0 +1,37 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 "modules/vehicle_interface/vi_overo_link.h"
+
+void vi_impl_init(void) {
+
+}
+
+void vi_impl_periodic(void) {
+
+}
+
+void vi_impl_set_enabled(bool_t enabled __attribute__ ((unused))) {
+
+}
+
Added: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
2010-08-24 23:06:39 UTC (rev 5667)
@@ -0,0 +1,35 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This is the implementation of the "external interface" to the autopilot.
+ * 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 VEHICLE_INTERFACE_OVERO_LINK_H
+#define VEHICLE_INTERFACE_OVERO_LINK_H
+
+#include "std.h"
+#include "modules/vehicle_interface/vi.h"
+#include "math/pprz_algebra_int.h"
+
+
+
+
+
+#endif /* VEHICLE_INTERFACE_OVERO_LINK_H */
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