[paparazzi-commits] [6240] start fixing rc for rotorcraft

[Felix Ruess]

Revision: 6240
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6240
Author:   flixr
Date:     2010-10-25 21:57:25 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
start fixing rc for rotorcraft

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h

Modified: 
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c     
2010-10-25 21:57:18 UTC (rev 6239)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c     
2010-10-25 21:57:25 UTC (rev 6240)
@@ -150,7 +150,7 @@
     break;
 
   case GUIDANCE_H_MODE_NAV:
-    if (radio_control.status == RADIO_CONTROL_OK) {
+    if (radio_control.status == RC_OK) {
       STABILIZATION_ATTITUDE_READ_RC(guidance_h_rc_sp, in_flight);
       guidance_h_rc_sp.psi = 0;
     }

Modified: 
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c     
2010-10-25 21:57:18 UTC (rev 6239)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c     
2010-10-25 21:57:25 UTC (rev 6240)
@@ -216,7 +216,7 @@
         guidance_v_delta_t = nav_throttle;
       }
       /* use rc limitation if available */
-      if (radio_control.status == RADIO_CONTROL_OK)
+      if (radio_control.status == RC_OK)
         stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, 
guidance_v_delta_t);
       else
         stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c    2010-10-25 
21:57:18 UTC (rev 6239)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c    2010-10-25 
21:57:25 UTC (rev 6240)
@@ -146,8 +146,8 @@
 
   PeriodicPrescaleBy10(                                                        
\
     {                                               \
-      radio_control_periodic();                                                
\
-      if (radio_control.status != RADIO_CONTROL_OK &&                  \
+      radio_control_periodic_task();                           \
+      if (radio_control.status != RC_OK &&                     \
           autopilot_mode != AP_MODE_KILL &&                    \
           autopilot_mode != AP_MODE_NAV)                       \
         autopilot_set_mode(AP_MODE_FAILSAFE);          \
@@ -173,7 +173,7 @@
     );                                                                 \
 
 #ifdef USE_GPS
-  if (radio_control.status != RADIO_CONTROL_OK &&                      \
+  if (radio_control.status != RC_OK &&                 \
       autopilot_mode == AP_MODE_NAV && GpsIsLost())            \
     autopilot_set_mode(AP_MODE_FAILSAFE);                      \
   booz_gps_periodic();

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h       
2010-10-25 21:57:18 UTC (rev 6239)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h       
2010-10-25 21:57:25 UTC (rev 6240)
@@ -30,7 +30,7 @@
 
 #include "downlink.h"
 
-#ifdef USE_RADIO_CONTROL
+#ifdef RADIO_CONTROL
 #include <subsystems/radio_control.h>
 #endif
 
@@ -119,11 +119,11 @@
 #endif
 
 #ifdef RADIO_CONTROL_TYPE_PPM
-#define PERIODIC_SEND_PPM(_chan)                                       \
-  DOWNLINK_SEND_PPM(_chan,                                             \
-                   &radio_control.frame_rate,                          \
-                   RADIO_CONTROL_NB_CHANNEL,                           \
-                   booz_radio_control_ppm_pulses)
+#define PERIODIC_SEND_PPM(_chan)                    \
+  DOWNLINK_SEND_PPM(_chan,                          \
+                    &radio_control.frame_rate,      \
+                    PPM_NB_CHANNEL,                 \
+                    ppm_pulses)
 #else
 #define PERIODIC_SEND_PPM(_chan) {}
 #endif