[paparazzi-commits] [5767]

[Paul Cox]

Revision: 5767
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5767
Author:   paulcox
Date:     2010-08-31 15:20:48 +0000 (Tue, 31 Aug 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/conf/settings/settings_beth.xml
    paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c

Added Paths:
-----------
    paparazzi3/trunk/conf/settings/settings_beth_full.xml

Modified: paparazzi3/trunk/conf/settings/settings_beth.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth.xml    2010-08-31 14:34:47 UTC 
(rev 5766)
+++ paparazzi3/trunk/conf/settings/settings_beth.xml    2010-08-31 15:20:48 UTC 
(rev 5767)
@@ -4,28 +4,8 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" 
module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" 
module="beth/overo_twist_controller" shortname ="mode"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" 
module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578">
-      </dl_setting>
-
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" 
module="beth/overo_estimator"  shortname="azim_gain">
-      </dl_setting>
-
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" 
max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" 
unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
-      </dl_setting>
-
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
-      </dl_setting>
-
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" 
module="beth/overo_estimator"  shortname="tilt_lp_coeff">
-      </dl_setting>
-
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
-      </dl_setting>
-
-      <dl_setting var="controller.armed" min="0" step="1" max="2" shortname 
="mode"/>
-
     </dl_settings>
   </dl_settings>
 </settings>

Added: paparazzi3/trunk/conf/settings/settings_beth_full.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth_full.xml                       
        (rev 0)
+++ paparazzi3/trunk/conf/settings/settings_beth_full.xml       2010-08-31 
15:20:48 UTC (rev 5767)
@@ -0,0 +1,31 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="Controller">
+
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" 
module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578"/>
+
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" 
module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" 
alt_unit="deg" alt_unit_coef="57.29578">
+      </dl_setting>
+
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" 
module="beth/overo_estimator"  shortname="azim_gain">
+      </dl_setting>
+
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" 
max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" 
unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      </dl_setting>
+
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" 
module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" 
max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      </dl_setting>
+
+      <dl_setting var="controller.armed" min="0" step="1" max="2" shortname 
="mode"/>
+
+    </dl_settings>
+  </dl_settings>
+</settings>

Modified: paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c 2010-08-31 14:34:47 UTC 
(rev 5766)
+++ paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c 2010-08-31 15:20:48 UTC 
(rev 5767)
@@ -58,8 +58,19 @@
 static uint16_t foo = 0;
 //struct FmsSerialPort* fmssp;
 //int spfd;
+uint8_t portnum;
 
 int main(int argc, char *argv[]) {
+
+  if (argc > 1) {
+    if (portnum > 10 ) {
+      printf("Port number must be <11\n");
+      return -1;
+    }
+    portnum = atoi(argv[1]);
+  } else portnum = 0;
+
+  printf("Using /dev/ttyUSB%d\n",portnum);
   
   (void) signal(SIGINT, main_exit);
 
@@ -110,7 +121,6 @@
   main_talk_with_tiny();
   check_gps();
 
-
   RunOnceEvery(20, gcs_com_periodic());
 
 }
@@ -118,7 +128,6 @@
 
 
 void check_gps(void){
-  if (ubx_status > tempstatus) tempstatus = ubx_status;
 
 /*  if (GpsTimeoutError) {
     printf("gps timeout\n");