[paparazzi-commits] [4523] removing obsolete file

[antoine drouin]

Revision: 4523
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4523
Author:   poine
Date:     2010-01-31 23:36:21 +0000 (Sun, 31 Jan 2010)
Log Message:
-----------
removing obsolete file

Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision_old.h

Deleted: paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision_old.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision_old.h  
2010-01-31 21:24:52 UTC (rev 4522)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision_old.h  
2010-01-31 23:36:21 UTC (rev 4523)
@@ -1,120 +0,0 @@
-/*
- * $Id$
- *  
- * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
- */
-
-#ifndef BOOZ_SUPERVISION_H
-#define BOOZ_SUPERVISION_H
-
-#include "airframe.h"
-
-#if defined SUPERVISION_FRONT_ROTOR_CW
-#define TRIM_FRONT ( SUPERVISION_TRIM_E-SUPERVISION_TRIM_R)
-#define TRIM_RIGHT (-SUPERVISION_TRIM_A+SUPERVISION_TRIM_R)
-#define TRIM_BACK  (-SUPERVISION_TRIM_E-SUPERVISION_TRIM_R)
-#define TRIM_LEFT  ( SUPERVISION_TRIM_A+SUPERVISION_TRIM_R)
-#define SUPERVISION_MIX(_mot_cmd, _da, _de, _dr, _dt) {                \
-    _mot_cmd[SERVO_FRONT] = _dt + _de - _dr + TRIM_FRONT;      \
-    _mot_cmd[SERVO_RIGHT] = _dt - _da + _dr + TRIM_RIGHT;      \
-    _mot_cmd[SERVO_BACK]  = _dt - _de - _dr + TRIM_BACK;       \
-    _mot_cmd[SERVO_LEFT]  = _dt + _da + _dr + TRIM_LEFT;       \
-  }
-#else
-#define TRIM_FRONT ( SUPERVISION_TRIM_E+SUPERVISION_TRIM_R)
-#define TRIM_RIGHT (-SUPERVISION_TRIM_A-SUPERVISION_TRIM_R)
-#define TRIM_BACK  (-SUPERVISION_TRIM_E+SUPERVISION_TRIM_R)
-#define TRIM_LEFT  ( SUPERVISION_TRIM_A-SUPERVISION_TRIM_R)
-#define SUPERVISION_MIX(_mot_cmd, _da, _de, _dr, _dt) {                \
-    _mot_cmd[SERVO_FRONT] = _dt + _de + _dr + TRIM_FRONT;      \
-    _mot_cmd[SERVO_RIGHT] = _dt - _da - _dr + TRIM_RIGHT;      \
-    _mot_cmd[SERVO_BACK]  = _dt - _de + _dr + TRIM_BACK;       \
-    _mot_cmd[SERVO_LEFT]  = _dt + _da - _dr + TRIM_LEFT;       \
-  }
-#endif
-
-#define SUPERVISION_FIND_MAX_MOTOR(_mot_cmd, _max_mot) {       \
-    _max_mot = (-32767-1); /* INT16_MIN;*/                     \
-    if (_mot_cmd[SERVO_FRONT] > _max_mot)                      \
-      max_mot = _mot_cmd[SERVO_FRONT];                         \
-    if (_mot_cmd[SERVO_RIGHT] > _max_mot)                      \
-      max_mot = _mot_cmd[SERVO_RIGHT];                         \
-    if (_mot_cmd[SERVO_BACK] > _max_mot)                       \
-      max_mot = _mot_cmd[SERVO_BACK];                          \
-    if (_mot_cmd[SERVO_LEFT] > _max_mot)                       \
-      max_mot = _mot_cmd[SERVO_LEFT];                          \
-  }
-
-#define SUPERVISION_FIND_MIN_MOTOR(_mot_cmd, _min_mot) {       \
-    _min_mot = (32767); /*INT16_MAX;*/                         \
-    if (_mot_cmd[SERVO_FRONT] < _min_mot)                      \
-      min_mot = _mot_cmd[SERVO_FRONT];                         \
-    if (_mot_cmd[SERVO_RIGHT] < _min_mot)                      \
-      min_mot = _mot_cmd[SERVO_RIGHT];                         \
-    if (_mot_cmd[SERVO_BACK] < _min_mot)                       \
-      min_mot = _mot_cmd[SERVO_BACK];                          \
-    if (_mot_cmd[SERVO_LEFT] < _min_mot)                       \
-      min_mot = _mot_cmd[SERVO_LEFT];                          \
-  }
-
-#define SUPERVISION_OFFSET_MOTORS(_mot_cmd, _offset) { \
-    _mot_cmd[SERVO_FRONT] += _offset;                  \
-    _mot_cmd[SERVO_RIGHT] += _offset;                  \
-    _mot_cmd[SERVO_BACK]  += _offset;                  \
-    _mot_cmd[SERVO_LEFT]  += _offset;                  \
-  }
-
-#define SUPERVISION_BOUND_MOTORS(_mot_cmd) {                           \
-    Bound(_mot_cmd[SERVO_FRONT], SUPERVISION_MIN_MOTOR, 
SUPERVISION_MAX_MOTOR); \
-    Bound(_mot_cmd[SERVO_RIGHT], SUPERVISION_MIN_MOTOR, 
SUPERVISION_MAX_MOTOR); \
-    Bound(_mot_cmd[SERVO_BACK] , SUPERVISION_MIN_MOTOR, 
SUPERVISION_MAX_MOTOR); \
-    Bound(_mot_cmd[SERVO_LEFT] , SUPERVISION_MIN_MOTOR, 
SUPERVISION_MAX_MOTOR); \
-  }
-
-
-#define BOOZ2_SUPERVISION_RUN(_out, _in,_motors_on) {                  \
-    if (_motors_on) {                                                  \
-      SUPERVISION_MIX(_out, _in[COMMAND_ROLL], _in[COMMAND_PITCH], 
_in[COMMAND_YAW], _in[COMMAND_THRUST]); \
-      pprz_t min_mot;                                                  \
-      SUPERVISION_FIND_MIN_MOTOR(_out, min_mot);                       \
-      if (min_mot < SUPERVISION_MIN_MOTOR) {                           \
-       pprz_t offset = -(min_mot - SUPERVISION_MIN_MOTOR);             \
-       SUPERVISION_OFFSET_MOTORS(_out, offset) ;                       \
-      }                                                                        
\
-      pprz_t max_mot;                                                  \
-      SUPERVISION_FIND_MAX_MOTOR(_out, max_mot);                       \
-      if (max_mot > SUPERVISION_MAX_MOTOR) {                           \
-       pprz_t offset = -(max_mot - SUPERVISION_MAX_MOTOR);             \
-       SUPERVISION_OFFSET_MOTORS(_out, offset) ;                       \
-      }                                                                        
\
-      SUPERVISION_BOUND_MOTORS(_out);                                  \
-    }                                                                  \
-    else {                                                             \
-      _out[SERVO_FRONT] = 0;                                           \
-      _out[SERVO_RIGHT] = 0;                                           \
-      _out[SERVO_BACK]  = 0;                                           \
-      _out[SERVO_LEFT]  = 0;                                           \
-    }                                                                  \
-  }
-
-
-
-
-#endif /* BOOZ_SUPERVISION_H */