[paparazzi-commits] [5361] added rc_status

[antoine drouin]

Revision: 5361
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5361
Author:   poine
Date:     2010-08-14 01:36:10 +0000 (Sat, 14 Aug 2010)
Log Message:
-----------
added rc_status

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

Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c   2010-08-14 
01:32:39 UTC (rev 5360)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c   2010-08-14 
01:36:10 UTC (rev 5361)
@@ -100,16 +100,9 @@
   struct AutopilotMessageCRCFrame msg_out;
   uint8_t crc_valid; 
 
-#if 0
-  uint16_t val = 1500 + 500*sin(foo*0.001);
-  msg_out.payload.msg_down.pwm_outputs_usecs[0] = val;
-  msg_out.payload.msg_down.pwm_outputs_usecs[1] = val;
-  msg_out.payload.msg_down.pwm_outputs_usecs[2] = val;
-#endif
   for (uint8_t i=0; i<6; i++) msg_out.payload.msg_down.pwm_outputs_usecs[i] = 
otp.servos_outputs_usecs[i];
 
   spi_link_send(&msg_out, sizeof(struct AutopilotMessageCRCFrame), &msg_in, 
&crc_valid);
-  
 
   struct AutopilotMessagePTUp *in = &msg_in.payload.msg_up; 
   RATES_FLOAT_OF_BFP(otp.imu.gyro, in->gyro);
@@ -119,6 +112,8 @@
   otp.io_proc_msg_cnt = in->stm_msg_cnt;
   otp.io_proc_err_cnt = in->stm_crc_err_cnt;
 
+  otp.rc_status = in->rc_status;
+
 }
 
 

Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h   2010-08-14 
01:32:39 UTC (rev 5360)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h   2010-08-14 
01:36:10 UTC (rev 5361)
@@ -9,6 +9,7 @@
   uint32_t io_proc_msg_cnt;
   uint32_t io_proc_err_cnt;
   uint16_t servos_outputs_usecs[6]; /* FIXME */
+  uint8_t  rc_status;
 };
 
 extern struct OveroTestPassthrough otp;

Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h 
2010-08-14 01:32:39 UTC (rev 5360)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h 
2010-08-14 01:36:10 UTC (rev 5361)
@@ -11,7 +11,8 @@
                                        &otp.io_proc_msg_cnt,           \
                                        &otp.io_proc_err_cnt,           \
                                        &spi_link.msg_cnt,              \
-                                       &spi_link.crc_err_cnt)
+                                       &spi_link.crc_err_cnt,          \
+                                       &otp.rc_status)
 
 
 #define PERIODIC_SEND_IMU_GYRO(_transport)                             \