[paparazzi-commits] [4606] remove old booz2_cam files

[Gautier Hattenberger]

Revision: 4606
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4606
Author:   gautier
Date:     2010-03-02 10:32:27 +0000 (Tue, 02 Mar 2010)
Log Message:
-----------
remove old booz2_cam files

Removed Paths:
-------------
    paparazzi3/trunk/sw/airborne/booz/booz2_cam.c
    paparazzi3/trunk/sw/airborne/booz/booz2_cam.h

Deleted: paparazzi3/trunk/sw/airborne/booz/booz2_cam.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_cam.c       2010-03-02 10:31:07 UTC 
(rev 4605)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_cam.c       2010-03-02 10:32:27 UTC 
(rev 4606)
@@ -1,115 +0,0 @@
-/* 
- * $Id: booz2_commands.c 3002 2009-02-10 11:36:07Z poine $
- *
- * Copyright (C) 2009 Gautier Hattenberger <address@hidden>,
- *                    Antoiene 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.  
- */
-
-#include "booz2_cam.h"
-#include "booz2_pwm_hw.h"
-#include "booz_ahrs.h"
-#include "booz2_navigation.h"
-#include "booz2_ins.h"
-#include "flight_plan.h"
-
-uint8_t booz2_cam_mode;
-
-#ifdef BOOZ2_CAM_TILT_NEUTRAL
-int16_t booz2_cam_tilt_pwm;
-int16_t booz2_cam_tilt;
-#endif
-#ifdef BOOZ2_CAM_PAN_NEUTRAL
-int16_t booz2_cam_pan;
-#endif
-
-#ifdef BOOZ2_CAM_TILT_ANGLE_MIN
-#define CAM_TA_MIN ANGLE_BFP_OF_REAL(BOOZ2_CAM_TILT_ANGLE_MIN)
-#else
-#define CAM_TA_MIN 0
-#endif
-
-#ifdef BOOZ2_CAM_TILT_ANGLE_MAX
-#define CAM_TA_MAX ANGLE_BFP_OF_REAL(BOOZ2_CAM_TILT_ANGLE_MAX)
-#else
-#define CAM_TA_MAX 0
-#endif
-
-void booz2_cam_init(void) {
-  booz2_cam_mode = BOOZ2_CAM_MODE_NONE;
-#ifdef BOOZ2_CAM_TILT_NEUTRAL
-  booz2_cam_tilt_pwm = BOOZ2_CAM_TILT_NEUTRAL;
-  Booz2SetPwmValue(booz2_cam_tilt_pwm);
-  booz2_cam_tilt = 0;
-#endif
-#ifdef BOOZ2_CAM_PAN_NEUTRAL
-  booz2_cam_pan = BOOZ2_CAM_PAN_NEUTRAL;
-#endif
-  LED_ON(CAM_SWITCH_LED); // CAM OFF
-}
-
-void booz2_cam_periodic(void) {
-
-  switch (booz2_cam_mode) {
-    case BOOZ2_CAM_MODE_NONE:
-#ifdef BOOZ2_CAM_TILT_NEUTRAL
-      booz2_cam_tilt_pwm = BOOZ2_CAM_TILT_NEUTRAL;
-#endif
-#ifdef BOOZ2_CAM_PAN_NEUTRAL
-      booz2_cam_pan = booz_ahrs.ltp_to_body_euler.psi;
-#endif
-      break;
-    case BOOZ2_CAM_MODE_MANUAL:
-#if defined BOOZ2_CAM_TILT_MIN && defined BOOZ2_CAM_TILT_MAX
-      Bound(booz2_cam_tilt_pwm,BOOZ2_CAM_TILT_MIN,BOOZ2_CAM_TILT_MAX);
-#endif
-      break;
-    case BOOZ2_CAM_MODE_HEADING:
-#if defined BOOZ2_CAM_TILT_ANGLE_MIN && defined BOOZ2_CAM_TILT_ANGLE_MAX
-      Bound(booz2_cam_tilt,CAM_TA_MIN,CAM_TA_MAX);
-      booz2_cam_tilt_pwm = BOOZ2_CAM_TILT_MIN + (BOOZ2_CAM_TILT_MAX - 
BOOZ2_CAM_TILT_MIN) * (booz2_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN);
-      Bound(booz2_cam_tilt_pwm,BOOZ2_CAM_TILT_MIN,BOOZ2_CAM_TILT_MAX);
-#endif
-#if defined BOOZ2_CAM_PAN_MIN && defined BOOZ2_CAM_PAN_MAX
-      Bound(booz2_cam_pan,BOOZ2_CAM_PAN_MIN,BOOZ2_CAM_PAN_MAX);
-      nav_heading = booz2_cam_pan;
-#endif
-      break;
-    case BOOZ2_CAM_MODE_WP:
-#ifdef WP_CAM
-      {
-        struct Int32Vect2 diff;
-        VECT2_DIFF(diff, waypoints[WP_CAM], booz_ins_enu_pos);
-        INT32_VECT2_RSHIFT(diff,diff,INT32_POS_FRAC);
-        INT32_ATAN2(booz2_cam_pan,diff.x,diff.y);
-        nav_heading = booz2_cam_pan;
-        int32_t dist, height;
-        INT32_VECT2_NORM(dist, diff);
-        height = (waypoints[WP_CAM].z - booz_ins_enu_pos.z) >> INT32_POS_FRAC;
-        INT32_ATAN2(booz2_cam_tilt, height, dist);
-        Bound(booz2_cam_tilt, CAM_TA_MIN, CAM_TA_MAX);
-        booz2_cam_tilt_pwm = BOOZ2_CAM_TILT_MIN + (BOOZ2_CAM_TILT_MAX - 
BOOZ2_CAM_TILT_MIN) * (booz2_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN);
-        Bound(booz2_cam_tilt_pwm, BOOZ2_CAM_TILT_MIN, BOOZ2_CAM_TILT_MAX);
-      }
-#endif
-      break;
-  }
-  Booz2SetPwmValue(booz2_cam_tilt_pwm);
-}
-

Deleted: paparazzi3/trunk/sw/airborne/booz/booz2_cam.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_cam.h       2010-03-02 10:31:07 UTC 
(rev 4605)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_cam.h       2010-03-02 10:32:27 UTC 
(rev 4606)
@@ -1,57 +0,0 @@
-/* 
- * $Id: booz2_commands.h 3002 2009-02-10 11:36:07Z poine $
- *
- * Copyright (C) 2009 Gautier Hattenberger <address@hidden>,
- *                    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 BOOZ2_CAM_H
-#define BOOZ2_CAM_H
-
-#include "airframe.h"
-#include "std.h"
-#include "led.h"
-
-#define BOOZ2_CAM_MODE_NONE     0
-#define BOOZ2_CAM_MODE_MANUAL   1
-#define BOOZ2_CAM_MODE_HEADING  2
-#define BOOZ2_CAM_MODE_WP       3
-
-extern uint8_t booz2_cam_mode;
-
-#ifdef BOOZ2_CAM_TILT_NEUTRAL
-extern int16_t booz2_cam_tilt_pwm;
-extern int16_t booz2_cam_tilt;
-#endif
-#ifdef BOOZ2_CAM_PAN_NEUTRAL
-extern int16_t booz2_cam_pan;
-#endif
-
-extern void booz2_cam_init(void);
-extern void booz2_cam_periodic(void);
-
-#define booz2_cam_SetCamMode(_v) { \
-  booz2_cam_mode = _v; \
-  if (booz2_cam_mode == BOOZ2_CAM_MODE_NONE) { LED_ON(CAM_SWITCH_LED); } \
-  else { LED_OFF(CAM_SWITCH_LED); } \
-}
-
-#endif /* BOOZ2_CAM_H */
-