[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [4212] More CSC fixes for telemetry channels
From: |
Allen Ibara |
Subject: |
[paparazzi-commits] [4212] More CSC fixes for telemetry channels |
Date: |
Thu, 01 Oct 2009 18:54:04 +0000 |
Revision: 4212
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4212
Author: aibara
Date: 2009-10-01 18:54:04 +0000 (Thu, 01 Oct 2009)
Log Message:
-----------
More CSC fixes for telemetry channels
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c
paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c 2009-10-01 18:53:33 UTC
(rev 4211)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c 2009-10-01 18:54:04 UTC
(rev 4212)
@@ -40,6 +40,8 @@
#include "radio_control.h"
#include "booz/booz2_gps.h"
+//#include "ap_downlink.h"
+
#include "csc_servos.h"
#include "csc_telemetry.h"
#include "csc_adc.h"
@@ -50,6 +52,8 @@
#include "csc_ap_link.h"
#include "led.h"
+#include "pprz_transport.h"
+
#define CSC_STATUS_TIMEOUT (SYS_TICS_OF_SEC(0.25) / PERIODIC_TASK_PERIOD)
#define PPRZ_MODE_MANUAL 0
@@ -172,7 +176,7 @@
{
static uint32_t csc_loops = 0;
- PeriodicSendAp();
+ PeriodicSendAp_DefaultChannel();
radio_control_periodic_task();
if (rc_status == RC_REALLY_LOST) {
Modified: paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h 2009-10-01 18:53:33 UTC
(rev 4211)
+++ paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h 2009-10-01 18:54:04 UTC
(rev 4212)
@@ -29,6 +29,7 @@
extern uint8_t telemetry_mode_Ap_DefaultChannel;
+#include "downlink.h"
#include "settings.h"
#include "booz/booz2_gps.h"
@@ -70,18 +71,19 @@
#ifdef USE_RADIO_CONTROL
#include "booz_radio_control.h"
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan,
RADIO_CONTROL_NB_CHANNEL, radio_control.values)
-#define PERIODIC_SEND_QUAD_STATUS(_chan) DOWNLINK_SEND_QUAD_STATUS(_chan,
&radio_control.status, &pprz_mode, &vsupply, &cpu_time)
+#define PERIODIC_SEND_FBW_STATUS(_chan) { uint16_t current;
DOWNLINK_SEND_FBW_STATUS(_chan, &radio_control.status, &pprz_mode, &vsupply,
¤t); }
#else
#ifdef RADIO_CONTROL
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, PPM_NB_PULSES,
rc_values)
-#define PERIODIC_SEND_QUAD_STATUS(_chan) DOWNLINK_SEND_QUAD_STATUS(_chan,
&rc_status, &pprz_mode, &vsupply, &cpu_time)
+#define PERIODIC_SEND_FBW_STATUS(_chan) { uint16_t current;
DOWNLINK_SEND_FBW_STATUS(_chan, &rc_status, &pprz_mode, &vsupply, ¤t); }
#endif
#endif /* USE_RADIO_CONTROL */
#ifdef USE_GPS
-#define PERIODIC_SEND_BOOZ2_GPS(_chan) { \
- DOWNLINK_SEND_BOOZ2_GPS( &booz_ins_gps_pos_cm_ned.x, \
- &booz_ins_gps_pos_cm_ned.y, \
+#define PERIODIC_SEND_BOOZ2_GPS(_chan) { \
+DOWNLINK_SEND_BOOZ2_GPS( _chan, \
+ &booz_ins_gps_pos_cm_ned.x, \
+ &booz_ins_gps_pos_cm_ned.y, \
&booz_ins_gps_pos_cm_ned.z, \
&booz_gps_state.ecef_speed.x, \
&booz_gps_state.ecef_speed.y, \
@@ -90,12 +92,13 @@
&booz_gps_state.sacc, \
&booz_gps_state.pdop, \
&booz_gps_state.num_sv, \
- &booz_gps_state.fix); \
+ &booz_gps_state.fix) \
}
#endif
-#define PERIODIC_SEND_GPS_ERROR() { \
- DOWNLINK_SEND_GPS_ERROR( &csc_gps_errors.pos.x, \
+#define PERIODIC_SEND_GPS_ERROR(_chan) { \
+DOWNLINK_SEND_GPS_ERROR( _chan, \
+ &csc_gps_errors.pos.x, \
&csc_gps_errors.pos.y, \
&csc_gps_errors.pos.z, \
&csc_gps_errors.rate.x, \
@@ -104,7 +107,8 @@
}
#define PERIODIC_SEND_BOOZ2_INS3(_chan) { \
-DOWNLINK_SEND_BOOZ2_INS3(&booz_ins_gps_pos_cm_ned.x, \
+DOWNLINK_SEND_BOOZ2_INS3(_chan, \
+&booz_ins_gps_pos_cm_ned.x, \
&booz_ins_gps_pos_cm_ned.y, \
&booz_ins_gps_pos_cm_ned.z, \
&booz_ins_gps_speed_cm_s_ned.x, \
[Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [4212] More CSC fixes for telemetry channels,
Allen Ibara <=