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[paparazzi-commits] [4154] power switch, rc switch from datalink
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4154] power switch, rc switch from datalink |
Date: |
Fri, 11 Sep 2009 18:30:58 +0000 |
Revision: 4154
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4154
Author: gautier
Date: 2009-09-11 18:30:56 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
power switch, rc switch from datalink
Modified Paths:
--------------
paparazzi3/trunk/conf/settings/settings_booz2.xml
paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
paparazzi3/trunk/sw/airborne/booz/booz2_main.c
Modified: paparazzi3/trunk/conf/settings/settings_booz2.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz2.xml 2009-09-11 17:33:22 UTC
(rev 4153)
+++ paparazzi3/trunk/conf/settings/settings_booz2.xml 2009-09-11 18:30:56 UTC
(rev 4154)
@@ -11,6 +11,14 @@
</dl_setting>
<dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12"
module="booz2_autopilot" shortname="auto2"
values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
<dl_setting var="kill_throttle" min="0" step="1" max="1"
module="booz2_autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
+ <dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1"
module="booz2_autopilot" values="OFF|ON" handler="SetPowerSwitch">
+ <strip_button name="POWER ON" icon="on.png" value="1"/>
+ <strip_button name="POWER OFF" icon="off.png" value="0"/>
+ </dl_setting>
+ <dl_setting var="booz2_autopilot_rc" min="0" step="1" max="1"
module="booz2_autopilot" values="RC OFF|RC ON">
+ <strip_button name="RC ON" value="1"/>
+ <strip_button name="RC OFF" value="0"/>
+ </dl_setting>
</dl_settings>
<dl_settings NAME="Rate Loop">
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-09-11 17:33:22 UTC
(rev 4153)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2009-09-11 18:30:56 UTC
(rev 4154)
@@ -29,6 +29,7 @@
#include "booz2_navigation.h"
#include "booz_guidance.h"
#include "booz_stabilization.h"
+#include "led.h"
uint8_t booz2_autopilot_mode;
uint8_t booz2_autopilot_mode_auto2;
@@ -37,7 +38,10 @@
uint32_t booz2_autopilot_motors_on_counter;
uint32_t booz2_autopilot_in_flight_counter;
bool_t kill_throttle;
+bool_t booz2_autopilot_rc;
+bool_t booz2_autopilot_power_switch;
+
bool_t booz2_autopilot_detect_ground;
bool_t booz2_autopilot_detect_ground_once;
@@ -59,6 +63,9 @@
booz2_autopilot_detect_ground = FALSE;
booz2_autopilot_detect_ground_once = FALSE;
booz2_autopilot_flight_time = 0;
+ booz2_autopilot_rc = TRUE;
+ booz2_autopilot_power_switch = FALSE;
+ LED_ON(POWER_SWITCH_LED); // POWER OFF
}
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-11 17:33:22 UTC
(rev 4153)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-11 18:30:56 UTC
(rev 4154)
@@ -49,7 +49,10 @@
extern bool_t booz2_autopilot_motors_on;
extern bool_t booz2_autopilot_in_flight;
extern bool_t kill_throttle;
+extern bool_t booz2_autopilot_rc;
+extern bool_t booz2_autopilot_power_switch;
+
extern void booz2_autopilot_init(void);
extern void booz2_autopilot_periodic(void);
extern void booz2_autopilot_on_rc_frame(void);
@@ -88,6 +91,11 @@
booz2_autopilot_motors_on = !kill_throttle;
\
}
+#define booz2_autopilot_SetPowerSwitch(_v) { \
+ booz2_autopilot_power_switch = _v; \
+ if (_v) { LED_OFF(POWER_SWITCH_LED); } \
+ else { LED_ON(POWER_SWITCH_LED); } \
+}
#define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
#define BoozDetectGroundEvent() { \
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2009-09-11 17:33:22 UTC
(rev 4153)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_main.c 2009-09-11 18:30:56 UTC
(rev 4154)
@@ -200,7 +200,9 @@
DatalinkEvent();
- RadioControlEvent(booz2_autopilot_on_rc_frame);
+ if (booz2_autopilot_rc) {
+ RadioControlEvent(booz2_autopilot_on_rc_frame);
+ }
BoozImuEvent(on_gyro_accel_event, on_mag_event);
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