[paparazzi-commits] [5179] convert fms spi autopilot msg to use new telemetry

[Allen Ibara]

Revision: 5179
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5179
Author:   aibara
Date:     2010-07-27 21:44:42 +0000 (Tue, 27 Jul 2010)
Log Message:
-----------
convert fms spi autopilot msg to use new telemetry

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

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-27 
21:43:34 UTC (rev 5178)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-27 
21:44:42 UTC (rev 5179)
@@ -34,9 +34,9 @@
 #include "fms_spi_autopilot_msg.h"
 
 /* all these for telemetry */
-#include "messages.h"
-#include "downlink.h"
-#include "udp_transport.h"
+#include "messages2.h"
+#include "downlink_transport.h"
+#include "udp_transport2.h"
 #include "fms/fms_network.h"
 #include "ready_main.h"
 
@@ -53,9 +53,10 @@
 static void (* pressure_callback)(uint8_t pressure_id, uint32_t pressure1, 
uint32_t pressure2) = NULL;
 static void (* radio_control_callback)(void) = NULL;
 
-void spi_ap_link_downlink_send()
+void spi_ap_link_downlink_send(struct DownlinkTransport *tp)
 {
-  DOWNLINK_SEND_EKF7_Y(DefaultChannel, &imu.accel.x, &imu.accel.y, 
&imu.accel.z,
+  uint32_t timestamp = 0;
+  DOWNLINK_SEND_EKF7_Y(tp, &timestamp, &imu.accel.x, &imu.accel.y, 
&imu.accel.z,
                    &imu.mag.x, &imu.mag.y, &imu.mag.z,
                    &imu.gyro.p, &imu.gyro.q, &imu.gyro.r);
 }

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.h    2010-07-27 
21:43:34 UTC (rev 5178)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.h    2010-07-27 
21:44:42 UTC (rev 5179)
@@ -21,13 +21,19 @@
  * Boston, MA 02111-1307, USA.
  */
 
+#ifndef FMS_SPI_AUTOPILOT_MSG_H
+#define FMS_SPI_AUTOPILOT_MSG_H
+#include "downlink_transport.h"
+
 int spi_ap_link_init(void);
 void spi_ap_link_set_vane_callback(void (* vane_cb)(uint8_t vane_id, float 
alpha, float beta));
 void spi_ap_link_set_pressure_callback(void (* pressure_cb)(uint8_t 
pressure_id, uint32_t pressure1, uint32_t pressure2));
 void spi_ap_link_set_radio_control_callback(void (* radio_control_cb)(void));
 void spi_ap_link_periodic(void);
-void spi_ap_link_downlink_send(void);
+void spi_ap_link_downlink_send(struct DownlinkTransport *tp);
 
 #ifdef USE_SPI_LINK
-#define PERIODIC_SEND_EKF7_Y(_chan) spi_ap_link_downlink_send();
+#define PERIODIC_SEND_EKF7_Y(_chan) spi_ap_link_downlink_send(_chan);
 #endif
+
+#endif // FMS_SPI_AUTOPILOT_MSG_H