[paparazzi-commits] [5660] fix vi include

[Gautier Hattenberger]

Revision: 5660
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5660
Author:   gautier
Date:     2010-08-24 16:33:19 +0000 (Tue, 24 Aug 2010)
Log Message:
-----------
fix vi include

Modified Paths:
--------------
    paparazzi3/trunk/conf/modules/vehicle_interface_datalink.xml
    paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
    paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h

Modified: paparazzi3/trunk/conf/modules/vehicle_interface_datalink.xml
===================================================================
--- paparazzi3/trunk/conf/modules/vehicle_interface_datalink.xml        
2010-08-24 16:19:11 UTC (rev 5659)
+++ paparazzi3/trunk/conf/modules/vehicle_interface_datalink.xml        
2010-08-24 16:33:19 UTC (rev 5660)
@@ -7,6 +7,7 @@
   <init fun="vi_init()"/>
   <periodic fun="vi_periodic()" freq="25"/>
   <datalink message="BOOZ2_FMS_COMMAND" fun="VI_PARSE_DATALINK(dl_buffer)"/>
+  <datalink message="BOOZ_NAV_STICK" fun="VI_NAV_STICK_PARSE_DL(dl_buffer)"/>
   <makefile>
     <file name="vi.c"/>
     <file name="vi_datalink.c"/>

Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-08-24 
16:19:11 UTC (rev 5659)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-08-24 
16:33:19 UTC (rev 5660)
@@ -39,7 +39,7 @@
 
   vi.enabled = FALSE;
   vi.timeouted = TRUE;
-  vi.last_msg = BOOZ_FMS_TIMEOUT;
+  vi.last_msg = VI_TIMEOUT;
 
   vi.input.h_mode = BOOZ2_GUIDANCE_H_MODE_ATTITUDE;
   INT_EULERS_ZERO(vi.input.h_sp.attitude);

Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h        
2010-08-24 16:19:11 UTC (rev 5659)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_datalink.h        
2010-08-24 16:33:19 UTC (rev 5660)
@@ -25,6 +25,7 @@
 #include "std.h"
 #include "vehicle_interface/vi.h"
 #include "math/pprz_algebra_int.h"
+#include "booz/booz_guidance.h"
 
 #ifndef VI_MAX_H_SPEED
 #define VI_MAX_H_SPEED 4.
@@ -63,7 +64,7 @@
              vi.input.h_sp.attitude.theta = 
DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer);                   \
              vi.input.h_sp.attitude.psi   = 
DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer);                   \
         ANGLE_REF_NORMALIZE(vi.input.h_sp.attitude.psi); \
-        BOOZ_FMS_LIMIT_ATTITUDE(vi.input.h_sp.attitude); \
+        VI_LIMIT_ATTITUDE(vi.input.h_sp.attitude); \
       }                                                                        
\
       break;  \
     case BOOZ2_GUIDANCE_H_MODE_HOVER :                                 \
@@ -97,7 +98,7 @@
     }                                                                  \
   }
 
-#define BOOZ_FMS_NAV_STICK_PARSE_DL(_dl_buffer) { \
+#define VI_NAV_STICK_PARSE_DL(_dl_buffer) { \
   vi.last_msg = 0; \
   vi.input.h_mode = BOOZ2_GUIDANCE_H_MODE_NAV; \
   vi.input.v_mode = BOOZ2_GUIDANCE_V_MODE_NAV; \