[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [6011] fix some more actuators includes
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6011] fix some more actuators includes |
|
Date: |
Tue, 28 Sep 2010 14:48:38 +0000 |
Revision: 6011
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6011
Author: flixr
Date: 2010-09-28 14:48:38 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
fix some more actuators includes
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/beth/main_stm32.c
paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_mc.c
paparazzi3/trunk/sw/airborne/csc/arm7/props_csc.h
paparazzi3/trunk/sw/airborne/csc/csc_servos.c
paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
paparazzi3/trunk/sw/airborne/csc/mercury_ap.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
paparazzi3/trunk/sw/airborne/test/test_actuators.c
Modified: paparazzi3/trunk/sw/airborne/beth/main_stm32.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
@@ -29,7 +29,7 @@
#include "sys_time.h"
#include "downlink.h"
#include "booz/booz2_commands.h"
-#include "booz/actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
//#include "booz/booz_radio_control.h"
#include <firmwares/rotorcraft/imu.h>
#include "lisa/lisa_overo_link.h"
@@ -131,7 +131,7 @@
overo_link.up.msg.gyro.p = imu.gyro_unscaled.p;
overo_link.up.msg.gyro.q = imu.gyro_unscaled.q;
overo_link.up.msg.gyro.r = imu.gyro_unscaled.r;
-
+
//can_err_flags (uint16) represents the board number that is not
communicating regularly
//spi_errors (uint16) reflects the number of crc errors on the spi link
//TODO: if >10% of messages are coming in with crc errors, assume something
is really wrong
@@ -161,25 +161,25 @@
if (cnt == 0) {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
- &imu.gyro_unscaled.p,
- &imu.gyro_unscaled.q,
- &imu.gyro_unscaled.r);
-
+ &imu.gyro_unscaled.p,
+ &imu.gyro_unscaled.q,
+ &imu.gyro_unscaled.r);
+
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,
- &imu.accel_unscaled.x,
- &imu.accel_unscaled.y,
- &imu.accel_unscaled.z);
+ &imu.accel_unscaled.x,
+ &imu.accel_unscaled.y,
+ &imu.accel_unscaled.z);
}
else if (cnt == 7) {
DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel,
- &imu.gyro.p,
- &imu.gyro.q,
- &imu.gyro.r);
-
+ &imu.gyro.p,
+ &imu.gyro.q,
+ &imu.gyro.r);
+
DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
- &imu.accel.x,
- &imu.accel.y,
- &imu.accel.z);
+ &imu.accel.x,
+ &imu.accel.y,
+ &imu.accel.z);
}
}
@@ -192,15 +192,15 @@
if (cnt%2) {
DOWNLINK_SEND_BOOZ2_MAG(DefaultChannel,
- &imu.mag.x,
- &imu.mag.y,
- &imu.mag.z);
+ &imu.mag.x,
+ &imu.mag.y,
+ &imu.mag.z);
}
else {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
- &imu.mag_unscaled.x,
- &imu.mag_unscaled.y,
- &imu.mag_unscaled.z);
+ &imu.mag_unscaled.x,
+ &imu.mag_unscaled.y,
+ &imu.mag_unscaled.z);
}
}
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_telemetry.h 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -37,7 +37,7 @@
#include "autopilot.h"
#include <firmwares/rotorcraft/guidance.h>
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
#ifndef TELEMETRY_STARTUP_DELAY
#define TELEMETRY_STARTUP_DELAY 0
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_mc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_mc.c 2010-09-28
14:05:43 UTC (rev 6010)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_mc.c 2010-09-28
14:48:38 UTC (rev 6011)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include <inttypes.h>
@@ -34,7 +34,7 @@
#include "commands.h"
#include "i2c.h"
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -67,15 +67,14 @@
static inline void main_periodic_task( void ) {
RunOnceEvery(50, {LED_TOGGLE(2); DOWNLINK_SEND_TIME(&cpu_time_sec);});
- Actuator(SERVO_FRONT) = 20;
- Actuator(SERVO_BACK) = 20;
- Actuator(SERVO_RIGHT) = 20;
- Actuator(SERVO_LEFT) = 20;
- ActuatorsCommit();
+ Actuator(SERVO_FRONT) = 20;
+ Actuator(SERVO_BACK) = 20;
+ Actuator(SERVO_RIGHT) = 20;
+ Actuator(SERVO_LEFT) = 20;
+ ActuatorsCommit();
}
static inline void main_event_task( void ) {
}
-
Modified: paparazzi3/trunk/sw/airborne/csc/arm7/props_csc.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/arm7/props_csc.h 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/csc/arm7/props_csc.h 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -2,7 +2,7 @@
#define PROPS_CSC_H
#include "airframe.h"
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
#include "sys_time.h"
#include "csc_ap_link.h"
#include "csc_msg_def.h"
Modified: paparazzi3/trunk/sw/airborne/csc/csc_servos.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_servos.c 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/csc/csc_servos.c 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -3,20 +3,20 @@
#include "LPC21xx.h"
#include "std.h"
#include "sys_time.h"
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
#include "airframe.h"
#include ACTUATORS
#define CSC_SERVOS_NB 4
static uint32_t csc_servos_rng[] =
{SYS_TICS_OF_USEC(SERVO_S1_MAX-SERVO_S1_MIN),
- SYS_TICS_OF_USEC(SERVO_S2_MAX-SERVO_S2_MIN),
- SYS_TICS_OF_USEC(SERVO_S3_MAX-SERVO_S3_MIN),
-
SYS_TICS_OF_USEC(SERVO_S4_MAX-SERVO_S4_MIN)};
+ SYS_TICS_OF_USEC(SERVO_S2_MAX-SERVO_S2_MIN),
+ SYS_TICS_OF_USEC(SERVO_S3_MAX-SERVO_S3_MIN),
+ SYS_TICS_OF_USEC(SERVO_S4_MAX-SERVO_S4_MIN)};
static uint32_t csc_servos_min[] = {SYS_TICS_OF_USEC(SERVO_S1_MIN),
- SYS_TICS_OF_USEC(SERVO_S2_MIN),
- SYS_TICS_OF_USEC(SERVO_S3_MIN),
- SYS_TICS_OF_USEC(SERVO_S4_MIN)};
+ SYS_TICS_OF_USEC(SERVO_S2_MIN),
+ SYS_TICS_OF_USEC(SERVO_S3_MIN),
+ SYS_TICS_OF_USEC(SERVO_S4_MIN)};
void csc_servos_init(void)
@@ -31,7 +31,7 @@
if(val == 0) csc_servo_set(id,0);
else{
uint32_t ticks = csc_servos_rng[id]*(val-1);
-
+
csc_servo_set(id,ticks/((1<<16)-2) + csc_servos_min[id]);
}
}
@@ -74,5 +74,3 @@
csc_servos_commit();
}
-
-
Modified: paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -1,6 +1,6 @@
/*
* $Id: booz2_telemetry.c 3002 2009-02-10 11:36:07Z poine $
- *
+ *
* Copyright (C) 2008 Antoine Drouin
*
* This file is part of paparazzi.
@@ -18,14 +18,14 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*
*/
#ifndef CSC_TELEMETRY_H
#define CSC_TELEMETRY_H
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
#include <inttypes.h>
extern uint8_t telemetry_mode_Ap_DefaultChannel;
@@ -72,7 +72,7 @@
#include "booz_radio_control.h"
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan,
RADIO_CONTROL_NB_CHANNEL, radio_control.values)
#define PERIODIC_SEND_FBW_STATUS(_chan) { uint16_t current;
DOWNLINK_SEND_FBW_STATUS(_chan, &radio_control.status, &pprz_mode, &vsupply,
¤t); }
-#else
+#else
#ifdef RADIO_CONTROL
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, PPM_NB_PULSES,
rc_values)
#define PERIODIC_SEND_FBW_STATUS(_chan) { uint16_t current;
DOWNLINK_SEND_FBW_STATUS(_chan, &rc_status, &pprz_mode, &vsupply, ¤t); }
@@ -81,36 +81,36 @@
#ifdef USE_GPS
#define PERIODIC_SEND_BOOZ2_GPS(_chan) { \
-DOWNLINK_SEND_BOOZ2_GPS( _chan, \
+DOWNLINK_SEND_BOOZ2_GPS( _chan, \
&booz_ins_gps_pos_cm_ned.x, \
&booz_ins_gps_pos_cm_ned.y, \
- &booz_ins_gps_pos_cm_ned.z, \
- &booz_gps_state.ecef_speed.x, \
- &booz_gps_state.ecef_speed.y, \
- &booz_gps_state.ecef_speed.z, \
- &booz_gps_state.pacc, \
- &booz_gps_state.sacc, \
- &booz_gps_state.pdop, \
- &booz_gps_state.num_sv, \
- &booz_gps_state.fix) \
+ &booz_ins_gps_pos_cm_ned.z, \
+ &booz_gps_state.ecef_speed.x, \
+ &booz_gps_state.ecef_speed.y, \
+ &booz_gps_state.ecef_speed.z, \
+ &booz_gps_state.pacc, \
+ &booz_gps_state.sacc, \
+ &booz_gps_state.pdop, \
+ &booz_gps_state.num_sv, \
+ &booz_gps_state.fix) \
}
#endif
#define PERIODIC_SEND_GPS_ERROR(_chan) { \
-DOWNLINK_SEND_GPS_ERROR( _chan, \
- &csc_gps_errors.pos.x, \
- &csc_gps_errors.pos.y, \
- &csc_gps_errors.pos.z, \
- &csc_gps_errors.rate.x, \
- &csc_gps_errors.rate.y, \
- &csc_gps_errors.rate.z) \
- }
-
+DOWNLINK_SEND_GPS_ERROR( _chan, \
+ &csc_gps_errors.pos.x, \
+ &csc_gps_errors.pos.y, \
+ &csc_gps_errors.pos.z, \
+ &csc_gps_errors.rate.x, \
+ &csc_gps_errors.rate.y, \
+ &csc_gps_errors.rate.z) \
+ }
+
#define PERIODIC_SEND_INS3(_chan) { \
-DOWNLINK_SEND_INS3(_chan, \
+DOWNLINK_SEND_INS3(_chan, \
&booz_ins_gps_pos_cm_ned.x, \
-&booz_ins_gps_pos_cm_ned.y, \
-&booz_ins_gps_pos_cm_ned.z, \
+&booz_ins_gps_pos_cm_ned.y, \
+&booz_ins_gps_pos_cm_ned.z, \
&booz_ins_gps_speed_cm_s_ned.x, \
&booz_ins_gps_speed_cm_s_ned.y, \
&booz_ins_gps_speed_cm_s_ned.z \
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_ap.c 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_ap.c 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -34,7 +34,7 @@
#include "string.h"
#include "booz_radio_control.h"
#include "mercury_supervision.h"
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
#include "props_csc.h"
#include "csc_booz2_guidance_v.h"
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-28
14:05:43 UTC (rev 6010)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-28
14:48:38 UTC (rev 6011)
@@ -35,7 +35,7 @@
#include "datalink.h"
#include "booz2_commands.h"
-#include "actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
#include "booz_radio_control.h"
#include <firmwares/rotorcraft/imu.h>
Modified: paparazzi3/trunk/sw/airborne/test/test_actuators.c
===================================================================
--- paparazzi3/trunk/sw/airborne/test/test_actuators.c 2010-09-28 14:05:43 UTC
(rev 6010)
+++ paparazzi3/trunk/sw/airborne/test/test_actuators.c 2010-09-28 14:48:38 UTC
(rev 6011)
@@ -28,7 +28,7 @@
#include "i2c.h"
#include "booz/booz2_commands.h"
-#include "firmwares/rotorcraft/actuators.h"
+#include <firmwares/rotorcraft/actuators.h>
static inline void main_init( void );
static inline void main_periodic_task( void );
| [Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [6011] fix some more actuators includes,
Felix Ruess <=