[paparazzi-commits] [4825] conditioned fms usage

[antoine drouin]

Revision: 4825
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4825
Author:   poine
Date:     2010-04-20 12:12:11 +0000 (Tue, 20 Apr 2010)
Log Message:
-----------
conditioned fms usage

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c
    paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2010-04-20 
11:18:30 UTC (rev 4824)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2010-04-20 
12:12:11 UTC (rev 4825)
@@ -31,7 +31,9 @@
 #include "booz2_autopilot.h"
 #include "flight_plan.h"
 
+#ifdef USE_FMS
 #include "booz_fms.h"
+#endif
 
 #include "math/pprz_algebra_int.h"
 
@@ -303,6 +305,7 @@
   }
 }
 
+#ifdef USE_FMS
 void nav_update_wp_from_fms(uint8_t _wp) {
   if (fms.enabled && _wp < nb_waypoint) {
     int32_t s_heading, c_heading;
@@ -323,6 +326,7 @@
     RunOnceEvery(10,DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, &_wp, 
&(waypoints[_wp].x), &(waypoints[_wp].y), &(waypoints[_wp].z)));
   }
 }
+#endif /* USE_FMS */
 
 bool_t nav_detect_ground(void) {
   if (!booz2_autopilot_detect_ground) return FALSE;

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h        2010-04-20 
11:18:30 UTC (rev 4824)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h        2010-04-20 
12:12:11 UTC (rev 4825)
@@ -219,6 +219,7 @@
 #define GetPosY() POS_FLOAT_OF_BFP(booz_ins_enu_pos.y)
 #define GetPosAlt() (POS_FLOAT_OF_BFP(booz_ins_enu_pos.z+ground_alt))
 
+#ifdef USE_FMS
 #define NavFmsMaxHSpeed ((int32_t)SPEED_BFP_OF_REAL(4.))
 #define NavFmsMaxVSpeed ((int32_t)SPEED_BFP_OF_REAL(2.))
 #define NavFmsMaxHeadingRate ((int32_t)RATE_BFP_OF_REAL(RadOfDeg(60.)))
@@ -227,6 +228,6 @@
 #define NavUpdateWPFromFms(_wp) { \
   nav_update_wp_from_fms(_wp); \
 }
+#endif /* USE_FMS */
 
-
 #endif /* BOOZ2_NAVIGATION_H */