[paparazzi-commits] [5880] Cleanup passthrough some, and implement throttle kill switch in STM

[Allen Ibara]

Revision: 5880
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5880
Author:   aibara
Date:     2010-09-15 04:57:15 +0000 (Wed, 15 Sep 2010)
Log Message:
-----------
Cleanup passthrough some, and implement throttle kill switch in STM 

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c

Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c       
2010-09-15 04:56:17 UTC (rev 5879)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c       
2010-09-15 04:57:15 UTC (rev 5880)
@@ -71,6 +71,9 @@
 
 extern uint8_t adc_new_data_trigger;
 
+#define ActuatorsCommit() booz_actuators_pwm_commit();
+#define actuators booz_actuators_pwm_values
+
 int main(void) {
 
   main_init();
@@ -110,11 +113,7 @@
 {
        if (radio_control.status == RADIO_CONTROL_REALLY_LOST) {
                const static int32_t commands_failsafe[COMMANDS_NB] = 
COMMANDS_FAILSAFE;
-#define ActuatorsCommit() booz_actuators_pwm_commit();
-#define actuators booz_actuators_pwm_values
                SetActuatorsFromCommands(commands_failsafe);
-#undef actuators
-#undef ActuatorsCommit
        }
 }
 
@@ -146,15 +145,15 @@
 
 static inline void on_rc_message(void) {
   new_radio_msg = TRUE;
-       if (radio_control.values[RADIO_CONTROL_MODE] >= 1) {
+       if (radio_control.values[RADIO_CONTROL_MODE] >= 150) {
                static int32_t commands[COMMANDS_NB];
                SetCommandsFromRC(commands, radio_control.values);
-#define ActuatorsCommit() booz_actuators_pwm_commit();
-#define actuators booz_actuators_pwm_values
                SetActuatorsFromCommands(commands);
-#undef actuators
-#undef ActuatorsCommit
        }
+       if (radio_control.values[RADIO_CONTROL_KILL] > 150) {
+               actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN;
+               ActuatorsCommit();
+       }
 }
 
 static inline void on_overo_link_msg_received(void) {
@@ -180,10 +179,11 @@
 #ifdef RADIO_CONTROL_GEAR
   overo_link.up.msg.rc_gear   = radio_control.values[RADIO_CONTROL_GEAR];
 #endif
-  overo_link.up.msg.rc_aux3   = radio_control.values[RADIO_CONTROL_AUX3];
-  overo_link.up.msg.rc_aux4   = radio_control.values[RADIO_CONTROL_AUX4];
-  overo_link.up.msg.rc_status = radio_control.status;
-  
+       
+  overo_link.up.msg.rc_aux2   = radio_control.values[RADIO_CONTROL_AUX2];
+       overo_link.up.msg.rc_aux3   = radio_control.values[RADIO_CONTROL_AUX3];
+       overo_link.up.msg.rc_status = radio_control.status;
+   
   overo_link.up.msg.stm_msg_cnt     = overo_link.msg_cnt;
   overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
   
@@ -210,10 +210,15 @@
        new_adc = FALSE;
 
   /* pwm acuators down */
-  for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) { 
-    booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
-  }
-  booz_actuators_pwm_commit();
+       if (radio_control.values[RADIO_CONTROL_MODE] <= 150) {
+               for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) { 
+                       booz_actuators_pwm_values[i] = 
overo_link.down.msg.pwm_outputs_usecs[i];
+               }
+               if (radio_control.values[RADIO_CONTROL_KILL] > 150) {
+                       actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN;
+               }
+               booz_actuators_pwm_commit();
+       }
 }
 
 static inline void on_overo_link_lost(void) {