[paparazzi-commits] [4639] use A1 supervision configuration in sim

[Felix Ruess]

Revision: 4639
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4639
Author:   flixr
Date:     2010-03-05 23:22:18 +0000 (Fri, 05 Mar 2010)
Log Message:
-----------
use A1 supervision configuration in sim

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-03-05 23:22:11 UTC 
(rev 4638)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-03-05 23:22:18 UTC 
(rev 4639)
@@ -197,7 +197,7 @@
        <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
                <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
                <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
-               <define name="AUTO2" value="BOOZ2_AP_MODE_NAV" />
+               <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
        </section>
 
        <makefile>

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2010-03-05 23:22:11 UTC (rev 4638)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2010-03-05 23:22:18 UTC (rev 4639)
@@ -32,10 +32,17 @@
 #define INT32_MAX (2147483647)
 #endif
 
+#ifdef SITL
+static const int32_t roll_coef[SUPERVISION_NB_MOTOR]   = {    0,    0, -256,  
256};
+static const int32_t pitch_coef[SUPERVISION_NB_MOTOR]  = {  256, -256,    0,   
 0};
+static const int32_t yaw_coef[SUPERVISION_NB_MOTOR]    = { -256, -256,  256,  
256};
+static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = {  256,  256,  256,  
256};
+#else
 static const int32_t roll_coef[SUPERVISION_NB_MOTOR]   = SUPERVISION_ROLL_COEF;
 static const int32_t pitch_coef[SUPERVISION_NB_MOTOR]  = 
SUPERVISION_PITCH_COEF;
 static const int32_t yaw_coef[SUPERVISION_NB_MOTOR]    = SUPERVISION_YAW_COEF;
 static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = 
SUPERVISION_THRUST_COEF;
+#endif
 
 struct BoozSupervision supervision;