[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [6252] for merged radio control, replace channels de
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6252] for merged radio control, replace channels define RADIO_CONTROL_< channel> with RADIO_<channel> |
|
Date: |
Mon, 25 Oct 2010 21:58:55 +0000 |
Revision: 6252
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6252
Author: flixr
Date: 2010-10-25 21:58:55 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
for merged radio control, replace channels define RADIO_CONTROL_<channel> with
RADIO_<channel>
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
paparazzi3/trunk/sw/airborne/csc/mercury_ap.c
paparazzi3/trunk/sw/airborne/csc/mercury_main.c
paparazzi3/trunk/sw/airborne/csc/mercury_supervision.h
paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
Modified:
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
2010-10-25 21:58:47 UTC (rev 6251)
+++
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
2010-10-25 21:58:55 UTC (rev 6252)
@@ -443,7 +443,7 @@
radio_control.status = RADIO_CONTROL_OK;
for (int i = 0; i < (MaxChannelNum + 1); i++) {
radio_control.values[i] = SpektrumBuf[i];
- if (i == RADIO_CONTROL_THROTTLE ) {
+ if (i == RADIO_THROTTLE ) {
radio_control.values[i] += MAX_PPRZ;
radio_control.values[i] /= 2;
}
Modified:
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
2010-10-25 21:58:47 UTC (rev 6251)
+++
paparazzi3/trunk/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
2010-10-25 21:58:55 UTC (rev 6252)
@@ -60,7 +60,7 @@
/* really for a 9 channel transmitter
we would swap the order of these */
#ifndef RADIO_MODE
-#define RADIO_MODE RADIO_CONTROL_GEAR
+#define RADIO_MODE RADIO_GEAR
#endif
extern void RadioControlEventImp(void (*_received_frame_handler)(void));
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
2010-10-25 21:58:47 UTC (rev 6251)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
2010-10-25 21:58:55 UTC (rev 6252)
@@ -69,11 +69,11 @@
int16_t foo = 0;//RC_PPM_SIGNED_TICS_OF_USEC(2050-1500);
RunOnceEvery(10,
{DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \
-
&radio_control.values[RADIO_CONTROL_ROLL], \
-
&radio_control.values[RADIO_CONTROL_PITCH], \
-
&radio_control.values[RADIO_CONTROL_YAW], \
-
&radio_control.values[RADIO_CONTROL_THROTTLE], \
-
&radio_control.values[RADIO_CONTROL_MODE], \
+ &radio_control.values[RADIO_ROLL], \
+ &radio_control.values[RADIO_PITCH], \
+ &radio_control.values[RADIO_YAW], \
+ &radio_control.values[RADIO_THROTTLE], \
+ &radio_control.values[RADIO_MODE], \
&foo, \
&radio_control.status);});
#ifdef RADIO_CONTROL_TYPE_PPM
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_ap.c 2010-10-25 21:58:47 UTC
(rev 6251)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_ap.c 2010-10-25 21:58:55 UTC
(rev 6252)
@@ -82,7 +82,7 @@
#define BOOZ2_AUTOPILOT_CHECK_IN_FLIGHT() { \
if (booz2_autopilot_in_flight) { \
if (booz2_autopilot_in_flight_counter > 0) { \
- if (radio_control.values[RADIO_CONTROL_THROTTLE] <
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD) { \
+ if (radio_control.values[RADIO_THROTTLE] <
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD) { \
booz2_autopilot_in_flight_counter--; \
if (booz2_autopilot_in_flight_counter == 0) { \
booz2_autopilot_in_flight = FALSE; \
@@ -96,7 +96,7 @@
else { /* not in flight */ \
if (booz2_autopilot_in_flight_counter < BOOZ2_AUTOPILOT_IN_FLIGHT_TIME
&& \
booz2_autopilot_motors_on) { \
- if (radio_control.values[RADIO_CONTROL_THROTTLE] >
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD) { \
+ if (radio_control.values[RADIO_THROTTLE] >
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD) { \
booz2_autopilot_in_flight_counter++; \
if (booz2_autopilot_in_flight_counter ==
BOOZ2_AUTOPILOT_IN_FLIGHT_TIME) \
booz2_autopilot_in_flight = TRUE; \
@@ -110,9 +110,9 @@
#define BOOZ2_AUTOPILOT_CHECK_MOTORS_ON() { \
if(!booz2_autopilot_motors_on){ \
- if (radio_control.values[RADIO_CONTROL_THROTTLE] <
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD && \
- (radio_control.values[RADIO_CONTROL_YAW] >
BOOZ2_AUTOPILOT_YAW_TRESHOLD || \
- radio_control.values[RADIO_CONTROL_YAW] <
-BOOZ2_AUTOPILOT_YAW_TRESHOLD)) { \
+ if (radio_control.values[RADIO_THROTTLE] <
BOOZ2_AUTOPILOT_THROTTLE_TRESHOLD && \
+ (radio_control.values[RADIO_YAW] > BOOZ2_AUTOPILOT_YAW_TRESHOLD ||
\
+ radio_control.values[RADIO_YAW] < -BOOZ2_AUTOPILOT_YAW_TRESHOLD)) {
\
if ( booz2_autopilot_motors_on_counter <
BOOZ2_AUTOPILOT_MOTOR_ON_TIME) { \
booz2_autopilot_motors_on_counter++; \
if (booz2_autopilot_motors_on_counter ==
BOOZ2_AUTOPILOT_MOTOR_ON_TIME){ \
@@ -152,7 +152,7 @@
stabilization_attitude_run(booz2_autopilot_in_flight);
booz2_guidance_v_run(booz2_autopilot_in_flight);
- stabilization_cmd[COMMAND_THRUST] =
(int32_t)radio_control.values[RADIO_CONTROL_THROTTLE] * 105 / 7200 + 95;
+ stabilization_cmd[COMMAND_THRUST] =
(int32_t)radio_control.values[RADIO_THROTTLE] * 105 / 7200 + 95;
CscSetCommands(stabilization_cmd,
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-10-25 21:58:47 UTC
(rev 6251)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_main.c 2010-10-25 21:58:55 UTC
(rev 6252)
@@ -90,14 +90,14 @@
{
uint16_t aux2_flag;
- radio_control.values[RADIO_CONTROL_ROLL] =
CSC_RC_SCALE*(msg->right_stick_horizontal - CSC_RC_OFFSET);
- radio_control.values[RADIO_CONTROL_PITCH] =
-CSC_RC_SCALE*(msg->right_stick_vertical - CSC_RC_OFFSET);
- radio_control.values[RADIO_CONTROL_YAW] =
CSC_RC_SCALE*((msg->left_stick_horizontal_and_aux2 & ~(3 << 13)) -
CSC_RC_OFFSET);
+ radio_control.values[RADIO_ROLL] =
CSC_RC_SCALE*(msg->right_stick_horizontal - CSC_RC_OFFSET);
+ radio_control.values[RADIO_PITCH] = -CSC_RC_SCALE*(msg->right_stick_vertical
- CSC_RC_OFFSET);
+ radio_control.values[RADIO_YAW] =
CSC_RC_SCALE*((msg->left_stick_horizontal_and_aux2 & ~(3 << 13)) -
CSC_RC_OFFSET);
pprz_mode = (msg->left_stick_vertical_and_flap_mix & (3 << 13)) >> 13;
aux2_flag = (msg->left_stick_horizontal_and_aux2 >> 13) & 0x1;
- radio_control.values[RADIO_CONTROL_MODE2] = (aux2_flag == 0) ? -7000 : (
(aux2_flag == 1) ? 0 : 7000);
- radio_control.values[RADIO_CONTROL_MODE] = (pprz_mode == 0) ? -7000 : (
(pprz_mode == 1) ? 0 : 7000);
- radio_control.values[RADIO_CONTROL_THROTTLE] =
-CSC_RC_SCALE*((msg->left_stick_vertical_and_flap_mix & ~(3 << 13)) -
CSC_RC_OFFSET);
+ radio_control.values[RADIO_MODE2] = (aux2_flag == 0) ? -7000 : ( (aux2_flag
== 1) ? 0 : 7000);
+ radio_control.values[RADIO_MODE] = (pprz_mode == 0) ? -7000 : ( (pprz_mode
== 1) ? 0 : 7000);
+ radio_control.values[RADIO_THROTTLE] =
-CSC_RC_SCALE*((msg->left_stick_vertical_and_flap_mix & ~(3 << 13)) -
CSC_RC_OFFSET);
radio_control.time_since_last_frame = 0;
radio_control.status = RADIO_CONTROL_OK;
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_supervision.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_supervision.h 2010-10-25
21:58:47 UTC (rev 6251)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_supervision.h 2010-10-25
21:58:55 UTC (rev 6252)
@@ -73,8 +73,8 @@
#define
MERCURY_SURFACES_SUPERVISION_RUN(_actuators,_cmds,_props,_surfaces_manual) { \
if (_surfaces_manual) { \
- _actuators(SERVO_S1) = (SERVO_S1_MAX+SERVO_S1_MIN)/2
+((SERVO_S1_MAX-SERVO_S1_MIN)*radio_control.values[RADIO_CONTROL_YAW])/2/7200; \
- _actuators(SERVO_S2) = (SERVO_S2_MAX+SERVO_S2_MIN)/2
+((SERVO_S2_MAX-SERVO_S2_MIN)*radio_control.values[RADIO_CONTROL_YAW])/2/7200; \
+ _actuators(SERVO_S1) = (SERVO_S1_MAX+SERVO_S1_MIN)/2
+((SERVO_S1_MAX-SERVO_S1_MIN)*radio_control.values[RADIO_YAW])/2/7200; \
+ _actuators(SERVO_S2) = (SERVO_S2_MAX+SERVO_S2_MIN)/2
+((SERVO_S2_MAX-SERVO_S2_MIN)*radio_control.values[RADIO_YAW])/2/7200; \
} else { \
int32_t bndcmd =
(mercury_supervision_yaw_servo_gain*_cmds[COMMAND_YAW]*mercury_supervision_yaw_comp_offset)/(mercury_supervision_yaw_comp_slope*((_props[PROP_UPPER_RIGHT]+_props[PROP_UPPER_LEFT])/2
- 105) + mercury_supervision_yaw_comp_offset); \
Bound(bndcmd,-400,400); \
Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c 2010-10-25
21:58:47 UTC (rev 6251)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c 2010-10-25
21:58:55 UTC (rev 6252)
@@ -137,15 +137,15 @@
// Fill radio data
if (msg_up->valid.rc && radio_control_callback) {
- radio_control.values[RADIO_CONTROL_ROLL] = msg_up->rc_roll;
- radio_control.values[RADIO_CONTROL_PITCH] = msg_up->rc_pitch;
- radio_control.values[RADIO_CONTROL_YAW] = msg_up->rc_yaw;
- radio_control.values[RADIO_CONTROL_THROTTLE] = msg_up->rc_thrust;
- 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_ROLL] = msg_up->rc_roll;
+ radio_control.values[RADIO_PITCH] = msg_up->rc_pitch;
+ radio_control.values[RADIO_YAW] = msg_up->rc_yaw;
+ radio_control.values[RADIO_THROTTLE] = msg_up->rc_thrust;
+ radio_control.values[RADIO_MODE] = msg_up->rc_mode;
+ radio_control.values[RADIO_KILL] = msg_up->rc_kill;
+ radio_control.values[RADIO_GEAR] = msg_up->rc_gear;
+ radio_control.values[RADIO_AUX2] = msg_up->rc_aux2;
+ radio_control.values[RADIO_AUX3] = msg_up->rc_aux3;
radio_control_callback();
}
// always fill status, it may change even when in the case when there is no
new data
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-10-25 21:58:47 UTC (rev 6251)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-10-25 21:58:55 UTC (rev 6252)
@@ -184,7 +184,7 @@
static inline void on_rc_message(void) {
new_radio_msg = TRUE;
- if (radio_control.values[RADIO_CONTROL_MODE] >= 150) {
+ if (radio_control.values[RADIO_MODE] >= 150) {
#ifdef PASSTHROUGH_CYGNUS
autopilot_on_rc_frame();
#else
@@ -194,7 +194,7 @@
#endif
}
#ifndef PASSTHROUGH_CYGNUS
- if (radio_control.values[RADIO_CONTROL_KILL] > 150) {
+ if (radio_control.values[RADIO_KILL] > 150) {
actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN;
ActuatorsCommit();
}
@@ -213,20 +213,20 @@
overo_link.up.msg.valid.rc = new_radio_msg;
new_radio_msg = FALSE;
- overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
- overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
- overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
- overo_link.up.msg.rc_thrust =
radio_control.values[RADIO_CONTROL_THROTTLE];
- overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
+ overo_link.up.msg.rc_pitch = radio_control.values[RADIO_PITCH];
+ overo_link.up.msg.rc_roll = radio_control.values[RADIO_ROLL];
+ overo_link.up.msg.rc_yaw = radio_control.values[RADIO_YAW];
+ overo_link.up.msg.rc_thrust = radio_control.values[RADIO_THROTTLE];
+ overo_link.up.msg.rc_mode = radio_control.values[RADIO_MODE];
#ifdef RADIO_CONTROL_KILL
- overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
+ overo_link.up.msg.rc_kill = radio_control.values[RADIO_KILL];
#endif
#ifdef RADIO_CONTROL_GEAR
- overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
+ overo_link.up.msg.rc_gear = radio_control.values[RADIO_GEAR];
#endif
- 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_aux2 = radio_control.values[RADIO_AUX2];
+ overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_AUX3];
overo_link.up.msg.rc_status = radio_control.status;
overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
@@ -266,11 +266,11 @@
cscp_transmit(0, CSC_SERVO_CMD_ID, (uint8_t *)&csc_servo_cmd,
sizeof(csc_servo_cmd));
#else
/* pwm acuators down */
- if (radio_control.values[RADIO_CONTROL_MODE] <= 150) {
+ if (radio_control.values[RADIO_MODE] <= 150) {
for (int i = 0; i < 6; i++) {
actuators_pwm_values[i] =
overo_link.down.msg.pwm_outputs_usecs[i];
}
- if (radio_control.values[RADIO_CONTROL_KILL] > 150) {
+ if (radio_control.values[RADIO_KILL] > 150) {
actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN;
}
actuators_pwm_commit();
| [Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [6252] for merged radio control, replace channels define RADIO_CONTROL_< channel> with RADIO_<channel>,
Felix Ruess <=