[paparazzi-commits] [5061] Use RATES_COPY/ VECT3_COPY instead of manual copy in lsa_stm_passthrough to shorten a little

[Allen Ibara]

Revision: 5061
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5061
Author:   aibara
Date:     2010-07-16 02:59:52 +0000 (Fri, 16 Jul 2010)
Log Message:
-----------
Use RATES_COPY/VECT3_COPY instead of manual copy in lsa_stm_passthrough to 
shorten a little

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
    paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
    paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-07-16 
02:28:50 UTC (rev 5060)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-07-16 
02:59:52 UTC (rev 5061)
@@ -57,7 +57,7 @@
  */
 struct __attribute__ ((packed)) AutopilotMessagePTUp
 {
-  struct Int16Vect3 gyro;
+  struct Int32Rates gyro;
   struct Int16Vect3 accel;
   struct Int16Vect3 mag;
   int16_t rc_pitch;

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-16 
02:28:50 UTC (rev 5060)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-16 
02:59:52 UTC (rev 5061)
@@ -120,9 +120,9 @@
     radio_control_callback();
 
   // Fill IMU data
-  imu.gyro.p = RATE_FLOAT_OF_BFP(msg_up->gyro.x);
-  imu.gyro.q = RATE_FLOAT_OF_BFP(msg_up->gyro.y);
-  imu.gyro.r = RATE_FLOAT_OF_BFP(msg_up->gyro.z);
+  imu.gyro.p = RATE_FLOAT_OF_BFP(msg_up->gyro.p);
+  imu.gyro.q = RATE_FLOAT_OF_BFP(msg_up->gyro.q);
+  imu.gyro.r = RATE_FLOAT_OF_BFP(msg_up->gyro.r);
 
   imu.accel.x = ACCEL_FLOAT_OF_BFP(msg_up->accel.x);
   imu.accel.y = ACCEL_FLOAT_OF_BFP(msg_up->accel.y);

Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c       
2010-07-16 02:28:50 UTC (rev 5060)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c       
2010-07-16 02:59:52 UTC (rev 5061)
@@ -79,34 +79,25 @@
 }
 
 static inline void main_on_overo_msg_received(void) {
-       struct AutopilotMessagePTUp *msg_up = &overo_link.up.msg;
-       struct AutopilotMessagePTDown *msg_down = &overo_link.down.msg;
+       RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
 
-       msg_up->gyro.x = booz_imu.gyro.p;
-       msg_up->gyro.y = booz_imu.gyro.q;
-       msg_up->gyro.z = booz_imu.gyro.r;
+       VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
 
-       msg_up->accel.x = booz_imu.accel.x;
-       msg_up->accel.y = booz_imu.accel.y;
-       msg_up->accel.z = booz_imu.accel.z;
+       VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
 
-       msg_up->mag.x = booz_imu.mag.x;
-       msg_up->mag.y = booz_imu.mag.y;
-       msg_up->mag.z = booz_imu.mag.z;
+       overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
+       overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
+       overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
+       overo_link.up.msg.rc_thrust = 
radio_control.values[RADIO_CONTROL_THROTTLE];
+       overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
+       overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
+       overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
+       overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
+       overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
+       overo_link.up.msg.rc_status = radio_control.status;
 
-       msg_up->rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
-       msg_up->rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
-       msg_up->rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
-       msg_up->rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
-       msg_up->rc_mode = radio_control.values[RADIO_CONTROL_MODE];
-       msg_up->rc_kill = radio_control.values[RADIO_CONTROL_KILL];
-       msg_up->rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
-       msg_up->rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
-       msg_up->rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
-       msg_up->rc_status = radio_control.status;
-
        for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
-         booz_actuators_pwm_values[i] = msg_down->pwm_outputs_usecs[i];
+         booz_actuators_pwm_values[i] = 
overo_link.down.msg.pwm_outputs_usecs[i];
        booz_actuators_pwm_commit();
 }