[paparazzi-commits] [5736] make -DGPS flag useful: if it exists it should work

[Christophe De Wagter]

Revision: 5736
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5736
Author:   dewagter
Date:     2010-08-27 19:55:08 +0000 (Fri, 27 Aug 2010)
Log Message:
-----------
make -DGPS flag useful: if it exists it should work

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
    paparazzi3/trunk/sw/airborne/gps.h
    paparazzi3/trunk/sw/airborne/main_ap.c

Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml        
2010-08-27 19:39:44 UTC (rev 5735)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml        
2010-08-27 19:55:08 UTC (rev 5736)
@@ -162,14 +162,12 @@
 
   <firmware name="fixedwing">
     <target name="ap"                  board="tiny_2.11">
-      <param name="FLASH_MODE"                 value="IAP" />
       <define name="AGR_CLIMB" />
       <define name="ALT_KALMAN" />
-      <define name="GENERIC" value="1" />
     </target>
     <target name="sim"                         board="pc" />
 
-    <subsystem name="radio_control"    type="ppm"/>
+    <subsystem name="radio_control"    type="ppm" />
 
     <!-- Communication -->
     <subsystem name="telemetry"        type="transparent">

Modified: paparazzi3/trunk/sw/airborne/gps.h
===================================================================
--- paparazzi3/trunk/sw/airborne/gps.h  2010-08-27 19:39:44 UTC (rev 5735)
+++ paparazzi3/trunk/sw/airborne/gps.h  2010-08-27 19:55:08 UTC (rev 5736)
@@ -27,7 +27,6 @@
  *
 */
 
-
 #ifndef GPS_H
 #define GPS_H
 
@@ -120,6 +119,12 @@
 #define GpsToggleLed() {}
 #endif
 
+#ifdef GPS
+#define GpsTimeoutError (cpu_time_sec - last_gps_msg_t > 
FAILSAFE_DELAY_WITHOUT_GPS)
+#else
+#define GpsTimeoutError 1
+#endif
+
 #define UseGpsPosNoSend(_callback) {                   \
     if (GpsFixValid()) {                       \
       last_gps_msg_t = cpu_time_sec;           \

Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c      2010-08-27 19:39:44 UTC (rev 
5735)
+++ paparazzi3/trunk/sw/airborne/main_ap.c      2010-08-27 19:55:08 UTC (rev 
5736)
@@ -193,6 +193,7 @@
 
 bool_t gps_lost = FALSE;
 
+
 #define Min(x, y) (x < y ? x : y)
 #define Max(x, y) (x > y ? x : y)
 
@@ -346,7 +347,7 @@
   /** If aircraft is launched and is in autonomus mode, go into
       PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe) if we lost the GPS */
   if (launch) {
-    if (cpu_time_sec - last_gps_msg_t > FAILSAFE_DELAY_WITHOUT_GPS) {
+    if (GpsTimeoutError) {
       if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
        last_pprz_mode = pprz_mode;
        pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER;