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[paparazzi-commits] [6241] update rotorcraft to use RADIO_THROTTLE inste
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From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6241] update rotorcraft to use RADIO_THROTTLE instead of RADIO_CONTROL_THROTTLE, etc. |
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Date: |
Mon, 25 Oct 2010 21:57:32 +0000 |
Revision: 6241
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6241
Author: flixr
Date: 2010-10-25 21:57:32 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
update rotorcraft to use RADIO_THROTTLE instead of RADIO_CONTROL_THROTTLE, etc.
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-10-25 21:57:25 UTC (rev 6240)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/autopilot.c
2010-10-25 21:57:32 UTC (rev 6241)
@@ -173,10 +173,10 @@
}
#define THROTTLE_STICK_DOWN() \
- (radio_control.values[RADIO_CONTROL_THROTTLE] < AUTOPILOT_THROTTLE_TRESHOLD)
+ (radio_control.values[RADIO_THROTTLE] < AUTOPILOT_THROTTLE_TRESHOLD)
#define YAW_STICK_PUSHED() \
- (radio_control.values[RADIO_CONTROL_YAW] > AUTOPILOT_YAW_TRESHOLD || \
- radio_control.values[RADIO_CONTROL_YAW] < -AUTOPILOT_YAW_TRESHOLD)
+ (radio_control.values[RADIO_YAW] > AUTOPILOT_YAW_TRESHOLD || \
+ radio_control.values[RADIO_YAW] < -AUTOPILOT_YAW_TRESHOLD)
static inline void autopilot_check_in_flight( void) {
if (autopilot_in_flight) {
@@ -239,11 +239,11 @@
void autopilot_on_rc_frame(void) {
uint8_t new_autopilot_mode = 0;
- AP_MODE_OF_PPRZ(radio_control.values[RADIO_CONTROL_MODE],
new_autopilot_mode);
+ AP_MODE_OF_PPRZ(radio_control.values[RADIO_MODE], new_autopilot_mode);
autopilot_set_mode(new_autopilot_mode);
#ifdef RADIO_CONTROL_KILL_SWITCH
- if (radio_control.values[RADIO_CONTROL_KILL_SWITCH] < 0)
+ if (radio_control.values[RADIO_KILL_SWITCH] < 0)
autopilot_set_mode(AP_MODE_KILL);
#endif
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
2010-10-25 21:57:25 UTC (rev 6240)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
2010-10-25 21:57:32 UTC (rev 6241)
@@ -103,12 +103,12 @@
// used in RC_DIRECT directly and as saturation in CLIMB and HOVER
#ifndef USE_HELI
- guidance_v_rc_delta_t =
(int32_t)radio_control.values[RADIO_CONTROL_THROTTLE] * 200 / MAX_PPRZ;
+ guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * 200
/ MAX_PPRZ;
#else
- guidance_v_rc_delta_t =
(int32_t)radio_control.values[RADIO_CONTROL_THROTTLE] * 4 / 5;
+ guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * 4 /
5;
#endif
// used in RC_CLIMB
- guidance_v_rc_zd_sp = ((MAX_PPRZ/2) -
(int32_t)radio_control.values[RADIO_CONTROL_THROTTLE]) *
+ guidance_v_rc_zd_sp = ((MAX_PPRZ/2) -
(int32_t)radio_control.values[RADIO_THROTTLE]) *
GUIDANCE_V_RC_CLIMB_COEF;
DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_RC_CLIMB_DEAD_BAND);
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
2010-10-25 21:57:25 UTC (rev 6240)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
2010-10-25 21:57:32 UTC (rev 6241)
@@ -44,19 +44,19 @@
#define RC_UPDATE_FREQ 40.
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
+ (radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R
|| \
+ radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
#define STABILIZATION_ATTITUDE_FLOAT_READ_RC(_sp, _inflight) { \
\
_sp.phi = \
- (-radio_control.values[RADIO_CONTROL_ROLL] * SP_MAX_PHI / MAX_PPRZ); \
+ (-radio_control.values[RADIO_ROLL] * SP_MAX_PHI / MAX_PPRZ); \
_sp.theta =
\
- ( radio_control.values[RADIO_CONTROL_PITCH] * SP_MAX_THETA / MAX_PPRZ); \
+ ( radio_control.values[RADIO_PITCH] * SP_MAX_THETA / MAX_PPRZ); \
if (_inflight) { \
if (YAW_DEADBAND_EXCEEDED()) { \
_sp.psi += \
- (-radio_control.values[RADIO_CONTROL_YAW] * SP_MAX_R / MAX_PPRZ /
RC_UPDATE_FREQ); \
+ (-radio_control.values[RADIO_YAW] * SP_MAX_R / MAX_PPRZ /
RC_UPDATE_FREQ); \
FLOAT_ANGLE_NORMALIZE(_sp.psi); \
}
\
} \
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
2010-10-25 21:57:25 UTC (rev 6240)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
2010-10-25 21:57:32 UTC (rev 6241)
@@ -55,21 +55,21 @@
#define RC_UPDATE_FREQ 40
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_DEADBAND_R)
+ (radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_DEADBAND_R || \
+ radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R)
#define STABILIZATION_ATTITUDE_READ_RC(_sp, _inflight) { \
\
_sp.phi = \
- ((int32_t)-radio_control.values[RADIO_CONTROL_ROLL] *
(int32_t)SP_MAX_PHI / MAX_PPRZ) \
+ ((int32_t)-radio_control.values[RADIO_ROLL] * (int32_t)SP_MAX_PHI /
MAX_PPRZ) \
<< (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
\
_sp.theta =
\
- ((int32_t) radio_control.values[RADIO_CONTROL_PITCH] *
(int32_t)SP_MAX_THETA / MAX_PPRZ) \
+ ((int32_t) radio_control.values[RADIO_PITCH] * (int32_t)SP_MAX_THETA /
MAX_PPRZ) \
<< (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
\
if (_inflight) { \
if (YAW_DEADBAND_EXCEEDED()) { \
_sp.psi += \
- ((int32_t)-radio_control.values[RADIO_CONTROL_YAW] * (int32_t)SP_MAX_R /
MAX_PPRZ / RC_UPDATE_FREQ) \
+ ((int32_t)-radio_control.values[RADIO_YAW] * (int32_t)SP_MAX_R /
MAX_PPRZ / RC_UPDATE_FREQ) \
<< (REF_ANGLE_FRAC - INT32_ANGLE_FRAC); \
ANGLE_REF_NORMALIZE(_sp.psi); \
}
\
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
2010-10-25 21:57:25 UTC (rev 6240)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
2010-10-25 21:57:32 UTC (rev 6241)
@@ -44,14 +44,14 @@
#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ?
VARIABLE : 0.0)
#define ROLL_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_ROLL] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A || \
- radio_control.values[RADIO_CONTROL_ROLL] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A)
+ (radio_control.values[RADIO_ROLL] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A
|| \
+ radio_control.values[RADIO_ROLL] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_A)
#define PITCH_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_PITCH] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E || \
- radio_control.values[RADIO_CONTROL_PITCH] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E)
+ (radio_control.values[RADIO_PITCH] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E || \
+ radio_control.values[RADIO_PITCH] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_E)
#define YAW_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_YAW] >
STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R || \
- radio_control.values[RADIO_CONTROL_YAW] <
-STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
+ (radio_control.values[RADIO_YAW] > STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R
|| \
+ radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_FLOAT_DEADBAND_R)
void stabilization_attitude_ref_enter(void);
void stabilization_attitude_ref_schedule(uint8_t idx);
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
2010-10-25 21:57:25 UTC (rev 6240)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
2010-10-25 21:57:32 UTC (rev 6241)
@@ -84,16 +84,16 @@
#endif
#define ROLL_RATE_DEADBAND_EXCEEDED() \
- (radio_control.values[RADIO_CONTROL_ROLL] > STABILIZATION_RATE_DEADBAND_P
|| \
- radio_control.values[RADIO_CONTROL_ROLL] < -STABILIZATION_RATE_DEADBAND_P)
+ (radio_control.values[RADIO_ROLL] > STABILIZATION_RATE_DEADBAND_P || \
+ radio_control.values[RADIO_ROLL] < -STABILIZATION_RATE_DEADBAND_P)
#define PITCH_RATE_DEADBAND_EXCEEDED()
\
- (radio_control.values[RADIO_CONTROL_PITCH] > STABILIZATION_RATE_DEADBAND_Q
|| \
- radio_control.values[RADIO_CONTROL_PITCH] < -STABILIZATION_RATE_DEADBAND_Q)
+ (radio_control.values[RADIO_PITCH] > STABILIZATION_RATE_DEADBAND_Q || \
+ radio_control.values[RADIO_PITCH] < -STABILIZATION_RATE_DEADBAND_Q)
#define YAW_RATE_DEADBAND_EXCEEDED() \
- (radio_control.values[RADIO_CONTROL_YAW] > STABILIZATION_RATE_DEADBAND_R ||
\
- radio_control.values[RADIO_CONTROL_YAW] < -STABILIZATION_RATE_DEADBAND_R)
+ (radio_control.values[RADIO_YAW] > STABILIZATION_RATE_DEADBAND_R || \
+ radio_control.values[RADIO_YAW] < -STABILIZATION_RATE_DEADBAND_R)
void stabilization_rate_init(void) {
@@ -122,17 +122,17 @@
void stabilization_rate_read_rc( void ) {
if(ROLL_RATE_DEADBAND_EXCEEDED())
- stabilization_rate_sp.p =
(int32_t)-radio_control.values[RADIO_CONTROL_ROLL] *
STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
+ stabilization_rate_sp.p = (int32_t)-radio_control.values[RADIO_ROLL] *
STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
else
stabilization_rate_sp.p = 0;
if(PITCH_RATE_DEADBAND_EXCEEDED())
- stabilization_rate_sp.q =
(int32_t)radio_control.values[RADIO_CONTROL_PITCH] *
STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
+ stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] *
STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
else
stabilization_rate_sp.q = 0;
if(YAW_RATE_DEADBAND_EXCEEDED())
- stabilization_rate_sp.r =
(int32_t)-radio_control.values[RADIO_CONTROL_YAW] * STABILIZATION_RATE_SP_MAX_R
/ MAX_PPRZ;
+ stabilization_rate_sp.r = (int32_t)-radio_control.values[RADIO_YAW] *
STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
else
stabilization_rate_sp.r = 0;
}
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-25 21:57:25 UTC (rev 6240)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/telemetry.h
2010-10-25 21:57:32 UTC (rev 6241)
@@ -97,7 +97,7 @@
#ifdef USE_RADIO_CONTROL
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan,
RADIO_CONTROL_NB_CHANNEL, radio_control.values)
#if defined RADIO_CONTROL_KILL_SWITCH
-#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) SEND_BOOZ2_RADIO_CONTROL(
_chan, &radio_control.values[RADIO_CONTROL_KILL_SWITCH])
+#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) SEND_BOOZ2_RADIO_CONTROL(
_chan, &radio_control.values[RADIO_KILL_SWITCH])
#else /* ! RADIO_CONTROL_KILL_SWITCH */
#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {
\
int16_t foo = -42;
\
@@ -106,11 +106,11 @@
#endif /* !RADIO_CONTROL_KILL_SWITCH */
#define SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) {
\
DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan,
\
-
&radio_control.values[RADIO_CONTROL_ROLL], \
-
&radio_control.values[RADIO_CONTROL_PITCH], \
- &radio_control.values[RADIO_CONTROL_YAW],
\
-
&radio_control.values[RADIO_CONTROL_THROTTLE], \
-
&radio_control.values[RADIO_CONTROL_MODE], \
+ &radio_control.values[RADIO_ROLL],
\
+ &radio_control.values[RADIO_PITCH],
\
+ &radio_control.values[RADIO_YAW],
\
+ &radio_control.values[RADIO_THROTTLE],
\
+ &radio_control.values[RADIO_MODE],
\
_kill_switch,
\
&radio_control.status);}
#else /* ! USE_RADIO_CONTROL */
@@ -708,9 +708,9 @@
#define PERIODIC_SEND_BOOZ2_TUNE_HOVER(_chan) {
\
DOWNLINK_SEND_BOOZ2_TUNE_HOVER(_chan, \
- &radio_control.values[RADIO_CONTROL_ROLL], \
- &radio_control.values[RADIO_CONTROL_PITCH], \
- &radio_control.values[RADIO_CONTROL_YAW], \
+ &radio_control.values[RADIO_ROLL], \
+ &radio_control.values[RADIO_PITCH], \
+ &radio_control.values[RADIO_YAW], \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
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- [paparazzi-commits] [6241] update rotorcraft to use RADIO_THROTTLE instead of RADIO_CONTROL_THROTTLE, etc.,
Felix Ruess <=