[paparazzi-commits] [6242] temporarily fix radio control feed with nps

[Felix Ruess]

Revision: 6242
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6242
Author:   flixr
Date:     2010-10-25 21:57:40 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
temporarily fix radio control feed with nps

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
    
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
    paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
    paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h
    paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c

Modified: paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile      
2010-10-25 21:57:32 UTC (rev 6241)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile      
2010-10-25 21:57:40 UTC (rev 6242)
@@ -20,7 +20,7 @@
 
 sim.ARCHDIR = $(ARCH)
 
-sim.CFLAGS  += -DSITL
+sim.CFLAGS  += -DSITL -DNPS
 sim.CFLAGS  += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
 sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
 sim.CFLAGS  += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) 
-I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
    2010-10-25 21:57:32 UTC (rev 6241)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
    2010-10-25 21:57:40 UTC (rev 6242)
@@ -16,8 +16,8 @@
 sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
 sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
 sim.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
-            $(SRC_BOOZ)/subsystems/radio_control/ppm.c \
-            $(SRC_BOOZ_SIM)/subsystems/radio_control/ppm_arch.c
+            $(SRC_SUBSYSTEMS)/radio_control/ppm.c \
+            $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
 
 #
 # test_rc_ppm

Modified: 
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c   
2010-10-25 21:57:32 UTC (rev 6241)
+++ paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c   
2010-10-25 21:57:40 UTC (rev 6242)
@@ -28,6 +28,10 @@
 #include <inttypes.h>
 #include <caml/mlvalues.h>
 
+#ifdef NPS
+#include "nps_radio_control.h"
+#endif
+
 uint8_t  ppm_cur_pulse;
 uint32_t ppm_last_pulse_time;
 bool_t   ppm_data_valid;
@@ -51,6 +55,35 @@
   return unit;
 }
 
+#ifdef NPS
+#define PPM_OF_NPS(_nps, _neutral, _min, _max)                          \
+  ((_nps) >= 0 ? (_neutral) + (_nps) * ((_max)-(_neutral)) : (_neutral) + 
(_nps) * ((_neutral)- (_min)))
+
+void radio_control_feed(void) {
+  ppm_pulses[RADIO_ROLL]     = PPM_OF_NPS(nps_radio_control.roll,       \
+                                          RADIO_ROLL_NEUTRAL,          \
+                                          RADIO_ROLL_MIN,              \
+                                          RADIO_ROLL_MAX);
+  ppm_pulses[RADIO_PITCH]    = PPM_OF_NPS(nps_radio_control.pitch,      \
+                                          RADIO_PITCH_NEUTRAL,         \
+                                          RADIO_PITCH_MIN,             \
+                                          RADIO_PITCH_MAX);
+  ppm_pulses[RADIO_YAW]      = PPM_OF_NPS(nps_radio_control.yaw,        \
+                                          RADIO_YAW_NEUTRAL,           \
+                                          RADIO_YAW_MIN,               \
+                                          RADIO_YAW_MAX);
+  ppm_pulses[RADIO_THROTTLE] = PPM_OF_NPS(nps_radio_control.throttle,   \
+                                          RADIO_THROTTLE_NEUTRAL,      \
+                                          RADIO_THROTTLE_MIN,          \
+                                          RADIO_THROTTLE_MAX);
+  ppm_pulses[RADIO_MODE]     = PPM_OF_NPS(nps_radio_control.mode,       \
+                                          RADIO_MODE_NEUTRAL,          \
+                                          RADIO_MODE_MIN,              \
+                                          RADIO_MODE_MAX);
+  ppm_frame_available = TRUE;
+}
+#endif
+
 #else // RADIO_CONTROL
 
 value update_rc_channel(value c __attribute__ ((unused)), value v 
__attribute__ ((unused))) {
@@ -61,4 +94,8 @@
   return unit;
 }
 
+#ifdef NPS
+void radio_control_feed(void) {}
+#endif
+
 #endif // RADIO_CONTROL

Modified: 
paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h   
2010-10-25 21:57:32 UTC (rev 6241)
+++ paparazzi3/trunk/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h   
2010-10-25 21:57:40 UTC (rev 6242)
@@ -36,4 +36,8 @@
 
 #define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
 
+#ifdef NPS
+extern void radio_control_feed(void);
+#endif
+
 #endif /* PPM_ARCH_H */

Modified: paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
===================================================================
--- paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c      2010-10-25 
21:57:32 UTC (rev 6241)
+++ paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c      2010-10-25 
21:57:40 UTC (rev 6242)
@@ -37,7 +37,7 @@
 void nps_autopilot_run_step(double time __attribute__ ((unused))) {
 
   if (nps_radio_control_available(time)) {
-    booz_radio_control_feed();
+    radio_control_feed();
     main_event();
   }