[paparazzi-commits] [5945] change servo_switch module to act on servos directly instead of going through commands

[Felix Ruess]

Revision: 5945
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5945
Author:   flixr
Date:     2010-09-25 12:39:35 +0000 (Sat, 25 Sep 2010)
Log Message:
-----------
change servo_switch module to act on servos directly instead of going through 
commands

Modified Paths:
--------------
    paparazzi3/trunk/conf/modules/servo_switch.xml
    paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.c
    paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.h

Modified: paparazzi3/trunk/conf/modules/servo_switch.xml
===================================================================
--- paparazzi3/trunk/conf/modules/servo_switch.xml      2010-09-25 12:39:22 UTC 
(rev 5944)
+++ paparazzi3/trunk/conf/modules/servo_switch.xml      2010-09-25 12:39:35 UTC 
(rev 5945)
@@ -7,8 +7,14 @@
   <init fun="servo_switch_init()"/>
   <periodic fun="servo_switch_periodic()" freq="10."/>
   <makefile>
-    <flag name="SWITCH_ON_VALUE"  value="MIN_PPRZ"/>
-    <flag name="SWITCH_OFF_VALUE" value="MAX_PPRZ"/>
+
+<!-- these parameters should be set for that module in the airframe file 
unless you want the defaults
+     Servo value in usec
+    <param name="SERVO_SWITCH_ON_VALUE"  value="2000"/>
+    <param name="SERVO_SWITCH_OFF_VALUE" value="1000"/>
+    <param name="SERVO_SWITCH_SERVO"     value="SERVO_SWITCH"/>
+-->
+
     <file name="servo_switch.c"/>
   </makefile>
 </module>

Modified: paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.c    
2010-09-25 12:39:22 UTC (rev 5944)
+++ paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.c    
2010-09-25 12:39:35 UTC (rev 5945)
@@ -22,7 +22,7 @@
  */
 
 #include "servo_switch/servo_switch.h"
-#include "inter_mcu.h"
+#include "actuators.h"
 
 bool_t servo_switch_on;
 int16_t servo_switch_value;
@@ -34,7 +34,7 @@
 
 void servo_switch_periodic(void) {
   if (servo_switch_on == TRUE)
-    ap_state->commands[COMMAND_SWITCH] = SWITCH_ON_VALUE;
+    SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_ON_VALUE)
   else
-    ap_state->commands[COMMAND_SWITCH] = SWITCH_OFF_VALUE;
+    SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_OFF_VALUE)
 }

Modified: paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.h    
2010-09-25 12:39:22 UTC (rev 5944)
+++ paparazzi3/trunk/sw/airborne/modules/servo_switch/servo_switch.h    
2010-09-25 12:39:35 UTC (rev 5945)
@@ -30,13 +30,17 @@
 extern bool_t servo_switch_on;
 extern int16_t servo_switch_value;
 
-#ifndef SWITCH_ON_VALUE
-#define SWITCH_ON_VALUE MAX_PPRZ
+#ifndef SERVO_SWITCH_ON_VALUE
+#define SERVO_SWITCH_ON_VALUE 2000
 #endif
-#ifndef SWITCH_OFF_VALUE
-#define SWITCH_OFF_VALUE MIN_PPRZ
+#ifndef SERVO_SWITCH_OFF_VALUE
+#define SERVO_SWITCH_OFF_VALUE 1000
 #endif
+#ifndef SERVO_SWITCH_SERVO
+#define SERVO_SWITCH_SERVO SERVO_SWITCH
+#endif
 
+
 extern void servo_switch_init(void);
 extern void servo_switch_periodic(void);