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add a telemetry startup delay

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This commit is contained in:
Felix Ruess
2009-09-07 15:06:14 +00:00
parent 12ec3872a8
commit 043de78830
3 changed files with 27 additions and 21 deletions
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conf/airframes/booz2_flixr.xml
+1
View File
@@ -207,6 +207,7 @@
#set GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DTELEMETRY_STARTUP_DELAY=3
</makefile>
</airframe>
sw/airborne/booz/booz2_main.c
+22 -21
View File
@@ -119,28 +119,29 @@ STATIC_INLINE void booz2_main_periodic( void ) {
booz2_autopilot_periodic();
/* set actuators */
actuators_set(booz2_autopilot_motors_on);
PeriodicPrescaleBy10( \
{ \
PeriodicPrescaleBy10( \
{ \
radio_control_periodic(); \
if (radio_control.status != RADIO_CONTROL_OK && booz2_autopilot_mode != BOOZ2_AP_MODE_KILL)\
booz2_autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
}, \
{ \
Booz2TelemetryPeriodic(); \
}, \
{ \
booz_fms_periodic(); \
}, \
{ \
/*BoozControlSurfacesSetFromCommands();*/ \
}, \
{}, \
{}, \
{}, \
{}, \
{}, \
{} \
); \
if (radio_control.status != RADIO_CONTROL_OK && booz2_autopilot_mode != BOOZ2_AP_MODE_KILL) \
booz2_autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE);\
}, \
{ \
if (cpu_time_sec > TELEMETRY_STARTUP_DELAY) \
Booz2TelemetryPeriodic(); \
}, \
{ \
booz_fms_periodic(); \
}, \
{ \
/*BoozControlSurfacesSetFromCommands();*/ \
}, \
{}, \
{}, \
{}, \
{}, \
{}, \
{} \
); \
// t1 = T0TC;
// diff = t1 - t0;
sw/airborne/booz/booz2_telemetry.h
+4
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@@ -36,6 +36,10 @@
#include "actuators.h"
#ifndef TELEMETRY_STARTUP_DELAY
#define TELEMETRY_STARTUP_DELAY 0
#endif
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)
#include "booz2_battery.h"