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This commit is contained in:
Antoine Drouin
2009-02-10 14:48:28 +00:00
parent cd00d48253
commit 09fe48172e
4 changed files with 7 additions and 20 deletions
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conf/autopilot/booz2_autopilot.makefile
+1 -1
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@@ -122,7 +122,7 @@ ap.CFLAGS += -DHS_YAW
ap.srcs += $(SRC_BOOZ)/booz2_fms.c
#ap.CFLAGS += -DBOOZ2_FMS_TYPE=BOOZ2_FMS_TYPE_DATALINK -DFMS_DATALINK_USE_COMMANDS_RAW
#ap.CFLAGS += -DBOOZ2_FMS_TYPE=BOOZ2_FMS_TYPE_DATALINK
#ap.srcs += $(SRC_BOOZ)/booz2_fms_datalink.c
ap.CFLAGS += -DBOOZ2_FMS_TYPE=BOOZ2_FMS_TYPE_TEST_SIGNAL
conf/autopilot/booz2_test_progs.makefile
+3 -3
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@@ -298,8 +298,8 @@ test_mc.ARCH = arm7tdmi
test_mc.TARGET = test_mc
test_mc.TARGETDIR = test_mc
test_mc.CFLAGS += -DCONFIG=$(BOARD_CFG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) -I$(BOOZ_ARCH)
test_mc.srcs += $(BOOZ_PRIV_TEST)/booz2_test_mc.c
test_mc.CFLAGS += -DCONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_mc.srcs += $(SRC_BOOZ_TEST)/booz2_test_mc.c
test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_mc.CFLAGS += -DLED
test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -311,7 +311,7 @@ test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVIC
test_mc.srcs += downlink.c pprz_transport.c
test_mc.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
test_mc.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
test_mc.srcs += $(SRC_BOOZ_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sw/airborne/booz/booz2_fms_datalink.h
-13
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@@ -24,18 +24,6 @@
extern void booz_fms_impl_init(void);
extern void booz_fms_impl_periodic(void);
#if defined FMS_DATALINK_USE_COMMANDS_RAW
#define BOOZ_FMS_PARSE_DATALINK(_l, _cmds) { \
if (_l >= 2) { \
booz_fms_input.h_mode = BOOZ2_GUIDANCE_H_MODE_ATTITUDE; \
booz_fms_input.h_sp.attitude.phi = BOOZ2_JOYSTICK_SP_PHI_COEF * _cmds[0]; \
booz_fms_input.h_sp.attitude.theta = BOOZ2_JOYSTICK_SP_THETA_COEF * _cmds[1]; \
booz_fms_input.h_sp.attitude.psi = 0; \
booz_fms_last_msg = 0; \
booz_fms_timeout = FALSE; \
} \
}
#else
#ifdef BOOZ_FMS_PHI_THETA_MAX
#define BOOZ_FMS_LIMIT_ATTITUDE(_fms_att) { \
@@ -80,6 +68,5 @@ extern void booz_fms_impl_periodic(void);
break; \
} \
}
#endif /* FMS_USE_COMMANDS_RAW */
#endif /* BOOZ2_FMS_DATALINK_H */
sw/airborne/booz/booz2_guidance_v.c
+3 -3
View File
@@ -1,7 +1,7 @@
#include "booz2_guidance_v.h"
#define B2_GUIDANCE_V_C
#define B2_GUIDANCE_V_USE_REF
//#define B2_GUIDANCE_V_USE_REF
#include "booz2_guidance_v_ref.h"
#include "radio_control.h"
@@ -105,8 +105,8 @@ static inline void run_hover_loop(bool_t in_flight) {
#else
b2_gv_set_ref(booz2_guidance_v_z_sp, 0, 0);
#endif
int64_t ref_z = b2_gv_z_ref>>(B2_GV_Z_REF_FRAC - B2_GV_Z_SP_FRAC);
int32_t err_z = booz_ins_position.z - (int32_t)ref_z;
int64_t ref_z = b2_gv_z_ref>>(B2_GV_Z_REF_FRAC - B2_GV_Z_SP_FRAC);
int32_t err_z = booz_ins_position.z - (int32_t)ref_z;
int32_t ref_zd = b2_gv_zd_ref<<(ISPEED_RES - B2_GV_ZD_REF_FRAC);
int32_t err_zd = booz_ins_speed_earth.z - ref_zd;