[paparazzi-commits] [4920] update booz drop module

[Felix Ruess]

Revision: 4920
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4920
Author:   flixr
Date:     2010-06-12 12:59:21 +0000 (Sat, 12 Jun 2010)
Log Message:
-----------
update booz drop module

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml
    paparazzi3/trunk/conf/modules/booz_drop.xml
    paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-06-10 16:30:51 UTC 
(rev 4919)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-06-12 12:59:21 UTC 
(rev 4920)
@@ -1,5 +1,11 @@
 <airframe name="BOOZ2_F1">
 
+       <modules main_freq="512">
+               <load name="booz_drop.xml"/>
+               <!--load name="booz_cam.xml"/-->
+               <!--load name="sonar_maxbotix_booz.xml"/-->
+       </modules>
+
        <servos min="0" neutral="0" max="0xff">
                <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
                <servo name="BACK" no="1" min="0" neutral="0" max="255" />
@@ -230,6 +236,12 @@
                ap.CFLAGS += -DUSE_GPS_ACC4R
         #ap.CFLAGS += -DGPS_LAG=0.3
 
+        ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
+        sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
+
+        ap.CFLAGS += -DUSEMODULES
+        sim.CFLAGS += -DUSEMODULES
+
         ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
         sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 

Modified: paparazzi3/trunk/conf/modules/booz_drop.xml
===================================================================
--- paparazzi3/trunk/conf/modules/booz_drop.xml 2010-06-10 16:30:51 UTC (rev 
4919)
+++ paparazzi3/trunk/conf/modules/booz_drop.xml 2010-06-12 12:59:21 UTC (rev 
4920)
@@ -9,6 +9,8 @@
   <periodic fun="booz_drop_periodic()" freq="10."/>
   <makefile>
     <flag name="USE_DROP"/>
+    <flag name="DROP_SERVO_OPEN" value="1700"/>
+    <flag name="DROP_SERVO_CLOSED" value="900"/>
     <file name="booz_drop.c"/>
   </makefile>
 </module>

Modified: paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c       2010-06-10 
16:30:51 UTC (rev 4919)
+++ paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c       2010-06-12 
12:59:21 UTC (rev 4920)
@@ -28,8 +28,12 @@
 bool_t booz_drop_ball;
 int16_t booz_drop_servo;
 
+#ifndef DROP_SERVO_OPEN
 #define DROP_SERVO_OPEN 1700
+#endif
+#ifndef DROP_SERVO_CLOSED
 #define DROP_SERVO_CLOSED 900
+#endif
 
 void booz_drop_init(void) {
   booz_drop_ball = FALSE;