[paparazzi-commits] [4890] remove drop from booz nav header

[Gautier Hattenberger]

Revision: 4890
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4890
Author:   gautier
Date:     2010-04-28 11:32:49 +0000 (Wed, 28 Apr 2010)
Log Message:
-----------
remove drop from booz nav header
prevent flight plan to kill throttle if not in nav mode
CARROT_DIST not used in nav if horizontal guidance ref is used

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

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2010-04-27 
18:58:16 UTC (rev 4889)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2010-04-28 
11:32:49 UTC (rev 4890)
@@ -29,6 +29,9 @@
 #include "booz2_ins.h"
 
 #include "booz2_autopilot.h"
+#ifdef USE_MODULES
+#include "modules.h"
+#endif
 #include "flight_plan.h"
 
 #ifdef USE_FMS
@@ -120,8 +123,9 @@
   int32_t dist_to_waypoint;
   INT32_VECT2_NORM(dist_to_waypoint, path_to_waypoint);
 
+#ifndef B2_GUIDANCE_H_USE_REF
   if (dist_to_waypoint < CLOSE_TO_WAYPOINT) {
-    VECT2_COPY( booz2_navigation_carrot, booz2_navigation_target);
+    VECT2_COPY(booz2_navigation_carrot, booz2_navigation_target);
   }
   else {
     struct Int32Vect2 path_to_carrot;
@@ -129,6 +133,10 @@
     VECT2_SDIV(path_to_carrot, path_to_carrot, dist_to_waypoint);
     VECT2_SUM(booz2_navigation_carrot, path_to_carrot, booz_ins_enu_pos);
   }
+#else
+  // if H_REF is used, CARROT_DIST is not used
+  VECT2_COPY(booz2_navigation_carrot, booz2_navigation_target);
+#endif
 
   nav_set_altitude();
 }

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h        2010-04-27 
18:58:16 UTC (rev 4889)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.h        2010-04-28 
11:32:49 UTC (rev 4890)
@@ -78,16 +78,9 @@
 
 void nav_home(void);
 
-#ifdef USE_DROP
-#include "booz_drop.h"
-#define NavDropNow() ({ booz_drop_ball = TRUE; FALSE; })
-#else
-#define NavDropNow() {}
-#endif
+#define NavKillThrottle() ({ if (booz2_autopilot_mode == BOOZ2_AP_MODE_NAV) { 
kill_throttle = 1; booz2_autopilot_motors_on = 0; } FALSE; })
+#define NavResurrect() ({ if (booz2_autopilot_mode == BOOZ2_AP_MODE_NAV) { 
kill_throttle = 0; booz2_autopilot_motors_on = 1; } FALSE; })
 
-#define NavKillThrottle() ({ kill_throttle = 1; booz2_autopilot_motors_on = 0; 
FALSE; })
-#define NavResurrect() ({ kill_throttle = 0; booz2_autopilot_motors_on = 1; 
FALSE; })
-
 #define InitStage() nav_init_stage();
 
 #define Block(x) case x: nav_block=x;

Modified: paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.h       2010-04-27 
18:58:16 UTC (rev 4889)
+++ paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.h       2010-04-28 
11:32:49 UTC (rev 4890)
@@ -32,4 +32,6 @@
 extern void booz_drop_init(void);
 extern void booz_drop_periodic(void);
 
+#define NavDropNow() ({ booz_drop_ball = TRUE; FALSE; })
+
 #endif  /* BOOZ_DROP_H */