[paparazzi-commits] [5824] Add a field to BAT, remove a field from LOADCELL, remove fields from PRESSURE

[Allen Ibara]

Revision: 5824
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5824
Author:   aibara
Date:     2010-09-07 17:42:01 +0000 (Tue, 07 Sep 2010)
Log Message:
-----------
Add a field to BAT, remove a field from LOADCELL, remove fields from PRESSURE

Modified Paths:
--------------
    paparazzi3/trunk/conf/messages.xml
    paparazzi3/trunk/sw/airborne/ap_downlink.h

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2010-09-07 16:43:36 UTC (rev 5823)
+++ paparazzi3/trunk/conf/messages.xml  2010-09-07 17:42:01 UTC (rev 5824)
@@ -85,7 +85,8 @@
 
    <message name="BAT" id="12">
      <field name="throttle" type="int16" unit="pprz"/>
-     <field name="voltage" type="uint8" unit="1e-1V" alt_unit="V" 
alt_unit_coef="0.1"/>
+     <field name="voltage" type="uint16" unit="1e-1V" alt_unit="V" 
alt_unit_coef="0.1"/>
+                <field name="amps" type="int16" unit="A" alt_unit="A" />
      <field name="flight_time" type="uint16" unit="s"/>
      <field name="kill_auto_throttle" type="uint8" unit="bool"/>
      <field name="block_time" type="uint16" unit="s"/>
@@ -320,13 +321,10 @@
   </message>
 
   <message name="PRESSURE" id="45">
-    <field name="adc" type="float"/>
+    <field name="airspeed_adc" type="float"/>
     <field name="airspeed" type="float" unit="m/s"/>
     <field name="altitude_adc" type="float"/>
     <field name="altitude" type="float" unit="m"/>
-    <field name="airspeed_sp" type="float" unit="m/s"/>
-    <field name="altitude_sp" type="float" unit="m/s"/>
-    <field name="groundspeed_sp" type="float" unit="m/s"/>
   </message>
 
   <message name="BARO_WORDS" id="46">
@@ -1303,8 +1301,7 @@
   </message>
 
   <message name="LOADCELL" id="181">
-    <field name="torque" type="int32"/>
-    <field name="thrust" type="int32"/>
+    <field name="load" type="int32"/>
   </message>
 
   <message name="FLA_DEBUG" id="182">

Modified: paparazzi3/trunk/sw/airborne/ap_downlink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/ap_downlink.h  2010-09-07 16:43:36 UTC (rev 
5823)
+++ paparazzi3/trunk/sw/airborne/ap_downlink.h  2010-09-07 17:42:01 UTC (rev 
5824)
@@ -56,7 +56,20 @@
 
 #define PERIODIC_SEND_ALIVE(_chan)  DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM);
 
-#define PERIODIC_SEND_BAT(_chan) Downlink({ int16_t e = energy; 
DOWNLINK_SEND_BAT(_chan, &v_ctl_throttle_slewed, &vsupply, 
&estimator_flight_time, &kill_throttle, &block_time, &stage_time, &e); })
+#define PERIODIC_SEND_BAT(_chan) { \
+       uint16_t zero; \
+       Downlink({ int16_t e = energy; \
+                          DOWNLINK_SEND_BAT(_chan, \
+                                                                
&v_ctl_throttle_slewed, \
+                                                                &vsupply, \
+                                                                &zero, \
+                                                                
&estimator_flight_time, \
+                                                                
&kill_throttle, \
+                                                                &block_time, \
+                                                                &stage_time, \
+                                                                &e); \
+       }); \
+}
 
 #ifdef MCU_SPI_LINK
 #define PERIODIC_SEND_DEBUG_MCU_LINK(_chan) 
DOWNLINK_SEND_DEBUG_MCU_LINK(_chan, &link_mcu_nb_err, &link_mcu_fbw_nb_err, 
&mcu1_ppm_cpt);