[paparazzi-commits] [5216] parse NAV_STICK commands for booz

[Gautier Hattenberger]

Revision: 5216
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5216
Author:   gautier
Date:     2010-08-04 17:13:43 +0000 (Wed, 04 Aug 2010)
Log Message:
-----------
parse NAV_STICK commands for booz

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h

Modified: paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h   2010-08-04 
16:52:58 UTC (rev 5215)
+++ paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h   2010-08-04 
17:13:43 UTC (rev 5216)
@@ -80,4 +80,14 @@
     }                                                                  \
   }
 
+#define BOOZ_FMS_NAV_STICK_PARSE_DL(_dl_buffer) { \
+  fms.last_msg = 0; \
+  fms.input.h_mode = BOOZ2_GUIDANCE_H_MODE_NAV;        \
+  fms.input.v_mode = BOOZ2_GUIDANCE_V_MODE_NAV;        \
+  fms.input.h_sp.speed.x = DL_BOOZ_NAV_STICK_vx_sp(_dl_buffer); \
+  fms.input.h_sp.speed.y = DL_BOOZ_NAV_STICK_vy_sp(_dl_buffer); \
+  fms.input.h_sp.speed.z = DL_BOOZ_NAV_STICK_r_sp(_dl_buffer); \
+  fms.input.v_sp.climb   = DL_BOOZ_NAV_STICK_vz_sp(_dl_buffer); \
+}
+
 #endif /* BOOZ2_FMS_DATALINK_H */