[paparazzi-commits] [5881] Fixes for fms_spi_autopilot renaming of aux2/3/4

[Allen Ibara]

Revision: 5881
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5881
Author:   aibara
Date:     2010-09-15 04:58:37 +0000 (Wed, 15 Sep 2010)
Log Message:
-----------
Fixes for fms_spi_autopilot renaming of aux2/3/4

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
    paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-09-15 
04:57:15 UTC (rev 5880)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-09-15 
04:58:37 UTC (rev 5881)
@@ -97,8 +97,8 @@
   int16_t rc_mode;
   int16_t rc_kill;
   int16_t rc_gear;
+  int16_t rc_aux2;
   int16_t rc_aux3;
-  int16_t rc_aux4;
   uint8_t rc_status;
   float vane_angle1; 
   float vane_angle2; 

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-09-15 
04:57:15 UTC (rev 5880)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-09-15 
04:58:37 UTC (rev 5881)
@@ -47,7 +47,7 @@
 #include "rdyb_mahrs.h"
 
 static struct BoozImuFloat imu;
-static struct FloatQuat body_to_imu_quat = LISA_BODY_TO_IMU_QUAT;
+static struct FloatQuat body_to_imu_quat = IMU_POSE_BODY_TO_IMU_QUAT;
 
 static void (* vane_callback)(uint8_t vane_id, float alpha, float beta) = NULL;
 static void (* pressure_absolute_callback)(uint8_t pressure_id, uint32_t 
pressure) = NULL;
@@ -57,7 +57,7 @@
 
 void spi_ap_link_downlink_send(struct DownlinkTransport *tp)
 {
-  uint32_t timestamp = 0;
+  uint16_t timestamp = 0;
   DOWNLINK_SEND_EKF7_Y(tp, &timestamp, &imu.accel.x, &imu.accel.y, 
&imu.accel.z,
                    &imu.mag.x, &imu.mag.y, &imu.mag.z,
                    &imu.gyro.p, &imu.gyro.q, &imu.gyro.r);
@@ -129,7 +129,7 @@
 
        if (msg_up->valid.adc) {
                if(adc_callback) {
-                       adc_callback(&msg_up->adc.channels);
+                       adc_callback(msg_up->adc.channels);
                }
        }
 
@@ -142,8 +142,8 @@
     radio_control.values[RADIO_CONTROL_MODE] = msg_up->rc_mode;
     radio_control.values[RADIO_CONTROL_KILL] = msg_up->rc_kill;
     radio_control.values[RADIO_CONTROL_GEAR] = msg_up->rc_gear;
+    radio_control.values[RADIO_CONTROL_AUX2] = msg_up->rc_aux2;
     radio_control.values[RADIO_CONTROL_AUX3] = msg_up->rc_aux3;
-    radio_control.values[RADIO_CONTROL_AUX4] = msg_up->rc_aux4;
     radio_control_callback();
   }
   // always fill status, it may change even when in the case when there is no 
new data