[paparazzi-commits] [5199] Fix yaw sign inverted on Joby 9CH for booz_radio_control

[Allen Ibara]

Revision: 5199
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5199
Author:   aibara
Date:     2010-08-02 23:40:44 +0000 (Mon, 02 Aug 2010)
Log Message:
-----------
Fix yaw sign inverted on Joby 9CH for booz_radio_control

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c
    
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby_9ch.h

Modified: 
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c   
2010-08-02 23:39:45 UTC (rev 5198)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c   
2010-08-02 23:40:44 UTC (rev 5199)
@@ -25,7 +25,9 @@
 #include "booz_radio_control.h"
 
 static struct rc_joby_parser_state parser;
+static const int16_t rc_joby_signs[RADIO_CONTROL_NB_CHANNEL] = RC_JOBY_SIGNS;
 
+
 static void handle_channel(void (* callback)(void))
 {
  if (parser.parser_normal_buf == RC_JOBY_MAGIC_START) {
@@ -37,7 +39,7 @@
     parser.current_inverted = READING_NORMAL;
   } else {
     // valid channel, store and look for next
-    radio_control.values[parser.current_channel] = parser.parser_normal_buf;
+    radio_control.values[parser.current_channel] = 
rc_joby_signs[parser.current_channel] * parser.parser_normal_buf;
     parser.current_channel++;
     if (parser.current_channel == RADIO_CONTROL_NB_CHANNEL) {
       // all channels read, reset parser and handle message

Modified: 
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby_9ch.h
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby_9ch.h   
    2010-08-02 23:39:45 UTC (rev 5198)
+++ 
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby_9ch.h   
    2010-08-02 23:40:44 UTC (rev 5199)
@@ -38,20 +38,14 @@
 
 #define RC_JOBY_SYNC_2 0x12
 
-#define RC_JOBY_THROWS { MAX_PPRZ/MAX_SPK, \
-                        MAX_PPRZ/MAX_SPK, \
-                       -MAX_PPRZ/MAX_SPK, \
-                        MAX_PPRZ/MAX_SPK, \
-                        MAX_PPRZ/MAX_SPK, \
-                       -MAX_PPRZ/MAX_SPK, \
-                        MAX_PPRZ/MAX_SPK }
+#define RC_JOBY_SIGNS { 1, \
+                       -1, \
+                        1, \
+                        1, \
+                        1, \
+                        1, \
+                        1, \
+                        1, \
+                        1 }
 
-/*
-  aileron 1
-  elevator 2
-  rudder 3
-  gear 4
-  throttle 5
-*/
-
 #endif /* BOOZ_RADIO_CONTROL_JOBY_9CH_H */