[paparazzi-commits] [4917] OSAMNav function execution at start of line

[Christophe De Wagter]

Revision: 4917
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4917
Author:   dewagter
Date:     2010-06-02 12:13:27 +0000 (Wed, 02 Jun 2010)
Log Message:
-----------
OSAMNav function execution at start of line

Modified Paths:
--------------
    paparazzi3/trunk/conf/settings/cam.xml
    paparazzi3/trunk/sw/airborne/OSAMNav.c

Modified: paparazzi3/trunk/conf/settings/cam.xml
===================================================================
--- paparazzi3/trunk/conf/settings/cam.xml      2010-05-28 12:00:58 UTC (rev 
4916)
+++ paparazzi3/trunk/conf/settings/cam.xml      2010-06-02 12:13:27 UTC (rev 
4917)
@@ -4,9 +4,12 @@
   <dl_settings NAME="control">
     <dl_settings name="cam">
       <dl_setting MAX="5" MIN="0" STEP="1" module="cam" VAR="cam_mode">
-        <strip_button name="TARGET" value="4"/>
+        <strip_button name="AC_TARGET" value="5"/>
+        <strip_button name="WP_TARGET" value="4"/>
+        <strip_button name="XY_TARGET" value="3"/>
         <strip_button name="NADIR" value="2"/>
         <strip_button name="ANGLES" value="1"/>
+        <strip_button name="OFF" value="0"/>
       </dl_setting>
     </dl_settings>
 
@@ -14,10 +17,10 @@
       <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" 
VAR="cam_tilt_c"/>
       <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" 
VAR="cam_pan_c"/>
     </dl_settings>
-<!--
+
     <dl_settings name="target">
-<dl_setting min="1" max="10" step="1" module="cam" var="cam_target_wp" 
shortname="wp"/>
+      <dl_setting min="1" max="27" step="1" module="cam" var="cam_target_wp" 
shortname="wp"/>
     </dl_settings>
--->
+
   </dl_settings>
 </settings>

Modified: paparazzi3/trunk/sw/airborne/OSAMNav.c
===================================================================
--- paparazzi3/trunk/sw/airborne/OSAMNav.c      2010-05-28 12:00:58 UTC (rev 
4916)
+++ paparazzi3/trunk/sw/airborne/OSAMNav.c      2010-06-02 12:13:27 UTC (rev 
4917)
@@ -25,6 +25,13 @@
 static uint8_t Center;
 static uint8_t Edge;
 
+#ifndef LINE_START_FUNCTION
+#define LINE_START_FUNCTION {}
+#endif
+#ifndef LINE_STOP_FUNCTION
+#define LINE_STOP_FUNCTION {}
+#endif
+
 bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP)
 {
        Center = CenterWP;
@@ -507,6 +514,7 @@
 
                //Go into entry circle state
                CSurveyStatus = Entry;  
+               LINE_STOP_FUNCTION;
        }
 
        return FALSE;
@@ -545,6 +553,7 @@
                {
                        CSurveyStatus = Sweep;
                        nav_init_stage();
+                       LINE_START_FUNCTION;
                }
                break;
        case Sweep:
@@ -670,7 +679,7 @@
                        //Go into circle state
                        CSurveyStatus = SweepCircle;    
                        nav_init_stage();
-
+      LINE_STOP_FUNCTION;
                        PolySurveySweepNum++;
                }
 
@@ -689,6 +698,7 @@
                {
                        CSurveyStatus = Sweep;
                        nav_init_stage();
+                       LINE_START_FUNCTION;
                }
                break;
        case Init: