[paparazzi-commits] [4645] define BOOZ_KILL_AS_FAILSAFE if you want that behaviour

[Felix Ruess]

Revision: 4645
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4645
Author:   flixr
Date:     2010-03-09 17:20:39 +0000 (Tue, 09 Mar 2010)
Log Message:
-----------
define BOOZ_KILL_AS_FAILSAFE if you want that behaviour

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2010-03-08 19:02:33 UTC 
(rev 4644)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.c 2010-03-09 17:20:39 UTC 
(rev 4645)
@@ -102,10 +102,12 @@
     /* horizontal mode */
     switch (new_autopilot_mode) {
     case BOOZ2_AP_MODE_FAILSAFE:
+#ifndef BOOZ_KILL_AS_FAILSAFE
       booz_stab_att_sp_euler.phi = 0;
       booz_stab_att_sp_euler.theta = 0;
       booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_ATTITUDE);
       break;
+#endif
     case BOOZ2_AP_MODE_KILL:
       booz2_autopilot_motors_on = FALSE;
       booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_KILL);
@@ -131,9 +133,11 @@
     /* vertical mode */
     switch (new_autopilot_mode) {
     case BOOZ2_AP_MODE_FAILSAFE:
+#ifndef BOOZ_KILL_AS_FAILSAFE
       booz2_guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
       booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_CLIMB);
       break;
+#endif
     case BOOZ2_AP_MODE_KILL:
       booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_KILL);
       break;