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[fix] collection of fixes after AP/FBW merge

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some errors after #2828
- fix all airframes using dual boards
- fix calls to ap_state or old imcu API
- fix some includes
- protect some code to compile test programs (without 'commands' API)

close #2840
This commit is contained in:
Gautier Hattenberger
2022-03-11 15:43:47 +01:00
committed by Freek van Tienen
parent 591d9bc6e4
commit 0b62eb89ef
43 changed files with 135 additions and 167 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+6
View File
@@ -27,6 +27,7 @@
<configure name="MODEM_PORT" value="UART2"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
<module name="telemetry" type="intermcu"/>
<module name="imu" type="px4fmu_v2.4"/>
<module name="gps" type="ublox"/>
@@ -159,6 +160,11 @@
<configure name="INTERMCU_PORT" value="UART2" />
<configure name="INTERMCU_BAUD" value="B1500000" />
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
</target>
</firmware>
conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
+5 -5
View File
@@ -436,11 +436,11 @@
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/OPENUAS/openuas_durafly_g2.xml
+5 -5
View File
@@ -290,11 +290,11 @@
<define name="ROTORSTARTER_OFF" value="MIN_PPRZ" />
<!-- <define name="AGR_CLIMB_PITCH" value="35" unit="deg" />-->
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)" />
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)" />
</section>
<servos>
conf/airframes/OPENUAS/openuas_durafly_goblin.xml
+5 -5
View File
@@ -198,11 +198,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/OPENUAS/openuas_eflite_t28.xml
+5 -5
View File
@@ -518,11 +518,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+5 -5
View File
@@ -526,11 +526,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
+5 -5
View File
@@ -389,11 +389,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ" />
<define name="SERVO_HATCH_OPEN" value="0" />
<define name="SERVO_HATCH_CLOSED" value="-9600" />
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)" />
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)" />
</section>
<!-- ********************** SERVO MIXER **************************** -->
<!--For mixed controls -->
conf/airframes/OPENUAS/openuas_own_flexo.xml
+5 -5
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@@ -483,11 +483,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
+5 -5
View File
@@ -485,11 +485,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/OPENUAS/openuas_own_vivify.xml
+5 -5
View File
@@ -287,11 +287,11 @@
<define name="SERVO_HATCH_CLOSED" value="-9600" />
<define name="AGR_CLIMB_PITCH" value="35" unit="deg" />
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />
<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)" />
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />
<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)" />
</section>
<commands>
conf/airframes/OPENUAS/openuas_parrot_disco.xml
+5 -5
View File
@@ -437,11 +437,11 @@
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ" />
<define name="SERVO_HATCH_OPEN" value="0" />
<define name="SERVO_HATCH_CLOSED" value="-9600" />
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)" />
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)" />
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)" />
</section>
<!-- ********************** SERVO MIXER **************************** -->
<section name="MIXER">
conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
+5 -5
View File
@@ -300,11 +300,11 @@ NOTES:
<define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="SERVO_HATCH_OPEN" value="0"/>
<define name="SERVO_HATCH_CLOSED" value="-9600"/>
<define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(ap_state->commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="AirbrakesOff()" value="(commands[COMMAND_BRAKE]=0)"/>
<define name="AirbrakesOn()" value="(commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)"/>
<!--<define name="Fly()" value="(commands[COMMAND_FORCECRASH]=0)" />-->
<!--<define name="ForceCrash()" value="(commands[COMMAND_FORCECRASH]=9600)" />-->
<define name="ThrottleHigh()" value="(commands[COMMAND_THROTTLE]>9600/2)"/>
<define name="SPOILERON_BRAKE_FULL" value="-MAX_PPRZ"/>
<define name="FLAPERON_BRAKE_FULL" value="MAX_PPRZ"/>
</section>
conf/airframes/tudelft/disco_modified.xml
+1 -1
View File
@@ -214,7 +214,7 @@
</servos>
<section name="ServoPositions">
<define name="ThrottleHigh()" value="(imcu_get_command(COMMAND_THROTTLE)>9600/2)" />
<define name="ThrottleHigh()" value="(command_get(COMMAND_THROTTLE)>9600/2)" />
</section>
<!-- ********************* SERVO MIXER *************************** -->
conf/airframes/tudelft/iris_indi.xml
+6
View File
@@ -19,6 +19,7 @@
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- in seconds-->
<module name="telemetry" type="transparent" />
<module name="telemetry" type="intermcu"/>
<module name="imu" type="px4fmu_v2.4"/>
<module name="gps" type="ublox" >
<configure name="GPS_BAUD" value="B57600"/>
@@ -91,6 +92,11 @@
<configure name="INTERMCU_PORT" value="UART2" />
<configure name="INTERMCU_BAUD" value="B1500000" />
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
</firmware>
<section name="MISC">
conf/airframes/tudelft/logo600.xml
+6
View File
@@ -26,6 +26,7 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
<target name="ap" board="lisa_mx_2.1">
<module name="telemetry" type="xbee_api"/>
<module name="telemetry" type="intermcu"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART4"/>
@@ -68,6 +69,11 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
<module name="intermcu" type="uart">
<define name="REMAP_UART3" value="TRUE"/>
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
</target>
</firmware>
conf/airframes/tudelft/outback.xml
+6
View File
@@ -19,6 +19,7 @@
</target-->
<module name="telemetry" type="xbee_api"/>
<module name="telemetry" type="intermcu"/>
<module name="imu" type="mpu6000"/>
<module name="gps" type="ublox">
<define name="GPS_TIMEOUT" value="2"/>
@@ -72,6 +73,11 @@
</module>
<module name="intermcu" type="uart"/>
<module name="telemetry" type="intermcu"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
<module name="opa_controller"/>
<module name="heli_swashplate_mixing"/>
<module name="gps" type="ublox"/>
conf/airframes/tudelft/robird.xml
+6
View File
@@ -18,6 +18,7 @@ Flapping wing frame equiped with
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- in seconds-->
<module name="telemetry" type="xbee_api"/>
<module name="telemetry" type="intermcu"/>
<module name="imu" type="px4fmu_v2.4"/>
<module name="gps" type="ublox" >
<configure name="GPS_BAUD" value="B57600"/>
@@ -82,6 +83,11 @@ Flapping wing frame equiped with
<configure name="INTERMCU_PORT" value="UART2" />
<configure name="INTERMCU_BAUD" value="B1500000" />
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
</firmware>
<section name="MISC">
conf/airframes/tudelft/twoseastwenty.xml
+10 -5
View File
@@ -9,7 +9,6 @@
<!-- ************************* FIRMWARE ************************* -->
<firmware name="fixedwing">
<define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
<target name="ap" board="lisa_l_1.0">
<configure name="SEPARATE_FBW" value="1"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
@@ -20,10 +19,10 @@
<module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2"/>
</module>
<module name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/>
</module>
<!-- mapping with intermcu channel -->
<define name="RADIO_FLAPS" value="RADIO_AUX1"/>
<define name="RADIO_GAIN1" value="RADIO_AUX2"/>
<define name="RADIO_GAIN2" value="RADIO_AUX3"/>
<!-- AP -->
<module name="control"/>
<module name="navigation"/>
@@ -32,6 +31,7 @@
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/>
</module>
<module name="telemetry" type="intermcu"/>
<module name="ins" type="xsens700">
<configure name="XSENS_PORT" value="uart1"/>
<configure name="XSENS_BAUD" value="B230400"/>
@@ -60,6 +60,11 @@
<module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART1"/>
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="$(INTERMCU_PORT)"/>
<configure name="MODEM_BAUD" value="$(INTERMCU_BAUD)"/>
<define name="TELEMETRY_DISABLE_RX"/>
</module>
<!-- SERVO'S -->
<module name="actuators" type="pwm"/>
<define name="USE_SERVOS_7AND8"/>
conf/autopilot/fixedwing_autopilot.xml
+1 -5
View File
@@ -21,22 +21,18 @@
</includes>
<control_block name="actuators_ap">
<call fun="PPRZ_MUTEX_LOCK(ap_state_mtx)"/>
<call fun="AP_COMMAND_SET_THROTTLE(v_ctl_throttle_slewed)"/>
<call fun="AP_COMMAND_SET_ROLL(-h_ctl_aileron_setpoint)"/>
<call fun="AP_COMMAND_SET_PITCH(h_ctl_elevator_setpoint)"/>
<call fun="AP_COMMAND_SET_YAW(h_ctl_rudder_setpoint)"/>
<call fun="AP_COMMAND_SET_CL(h_ctl_flaps_setpoint)"/>
<call fun="PPRZ_MUTEX_UNLOCK(ap_state_mtx)"/>
</control_block>
<control_block name="set_attitude_from_rc">
<call fun="PPRZ_MUTEX_LOCK(fbw_state_mtx)"/>
<call fun="AP_SETPOINT_ROLL(h_ctl_roll_setpoint, AUTO1_MAX_ROLL)"/>
<call fun="AP_SETPOINT_PITCH(h_ctl_pitch_setpoint, AUTO1_MAX_PITCH)"/>
<call fun="AP_SETPOINT_YAW_RATE(h_ctl_yaw_rate_setpoint, AUTO1_MAX_YAW_RATE)"/>
<call fun="AP_SETPOINT_THROTTLE(v_ctl_throttle_setpoint)"/>
<call fun="PPRZ_MUTEX_UNLOCK(fbw_state_mtx)"/>
</control_block>
<control_block name="attitude">
@@ -60,7 +56,7 @@
<call fun="nav_periodic_task()"/>
</control>
<control> <!-- only for display -->
<call fun="v_ctl_throttle_slewed = imcu_get_radio(RADIO_THROTTLE)"/>
<call fun="v_ctl_throttle_slewed = radio_control_get(RADIO_THROTTLE)"/>
</control>
<exception cond="RCLost() && autopilot_in_flight()" deroute="HOME"/>
</mode>
conf/autopilot/fixedwing_rusty.xml
+1 -5
View File
@@ -26,22 +26,18 @@
</includes>
<control_block name="actuators_ap">
<call fun="PPRZ_MUTEX_LOCK(ap_state_mtx)"/>
<call fun="AP_COMMAND_SET_THROTTLE(v_ctl_throttle_slewed)"/>
<call fun="AP_COMMAND_SET_ROLL(-h_ctl_aileron_setpoint)"/>
<call fun="AP_COMMAND_SET_PITCH(h_ctl_elevator_setpoint)"/>
<call fun="AP_COMMAND_SET_YAW(h_ctl_rudder_setpoint)"/>
<call fun="AP_COMMAND_SET_CL(h_ctl_flaps_setpoint)"/>
<call fun="PPRZ_MUTEX_UNLOCK(ap_state_mtx)"/>
</control_block>
<control_block name="set_attitude_from_rc">
<call fun="PPRZ_MUTEX_LOCK(fbw_state_mtx)"/>
<call fun="AP_SETPOINT_ROLL(h_ctl_roll_setpoint, AUTO1_MAX_ROLL)"/>
<call fun="AP_SETPOINT_PITCH(h_ctl_pitch_setpoint, AUTO1_MAX_PITCH)"/>
<call fun="AP_SETPOINT_YAW_RATE(h_ctl_yaw_rate_setpoint, AUTO1_MAX_YAW_RATE)"/>
<call fun="AP_SETPOINT_THROTTLE(v_ctl_throttle_setpoint)"/>
<call fun="PPRZ_MUTEX_UNLOCK(fbw_state_mtx)"/>
</control_block>
<control_block name="attitude">
@@ -65,7 +61,7 @@
<call fun="nav_periodic_task()"/>
</control>
<control> <!-- only for display -->
<call fun="v_ctl_throttle_slewed = imcu_get_radio(RADIO_THROTTLE)"/>
<call fun="v_ctl_throttle_slewed = radio_control_get(RADIO_THROTTLE)"/>
</control>
<exception cond="RCLost() && autopilot_in_flight()" deroute="HOME"/>
</mode>
conf/flight_plans/OPENUAS/include_obc2014_mission.xml
+6 -6
View File
@@ -235,8 +235,8 @@ TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
<!-- TODO: make some movements on all defelctros as a sign we are in holding and to see if all works Maybe a separate testblock-->
<!-- <set var="waypoints[WP_START].x" value="WaypointX(WP_EL2) + 50"/> -->
<!-- <set var="waypoints[WP_START].y" value="WaypointY(WP_EL2) + 50"/> -->
<!-- <set value="0" var="ap_state->commands[COMMAND_CAMBER]"/> -->
<!-- <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
<!-- <set value="0" var="commands[COMMAND_CAMBER]"/> -->
<!-- <set value="0" var="commands[COMMAND_BRAKE]"/> -->
<call_once fun="AirbrakesOff()"/>
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/><!-- maybe not moving the plane would still make a test of defelction possible -->
</block>
@@ -265,7 +265,7 @@ TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
</block>
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<!-- <set value="3000" var="ap_state->commands[COMMAND_CAMBER]"/> -->
<!-- <set value="3000" var="commands[COMMAND_CAMBER]"/> -->
<set value="0" var="autopilot.kill_throttle"/>
<set value="1" var="autopilot.launch"/>
<set value="0" var="autopilot.flight_time"/>
@@ -317,7 +317,7 @@ to “Airfield Home” and orbit for either a landing or regain of Data Link.
***************************************************** -->
<!-- maybe a HelperWaypoint to gettart n return from a mission Tracking to EL1
<set value="0" var="ap_state->commands[COMMAND_CAMBER]"/>-->
<set value="0" var="commands[COMMAND_CAMBER]"/>-->
<!-- *********** Track to EL-1 *********** -->
<block name="EntryLane1" strip_button="Joe" strip_icon="lookdown.png" group="Mission">
@@ -441,7 +441,7 @@ extern bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t e
#define NavDropComputeApproach(_target, _start, _radius) nav_drop_compute_approach(_target, _start, _radius)
#define NavDropUpdateRelease(_wp) nav_drop_update_release(_wp)
#define NavDropShoot() nav_drop_shoot()
#define NavDropCloseHatch() ({ ap_state->commands[COMMAND_HATCH] = MIN_PPRZ; })
#define NavDropCloseHatch() ({ commands[COMMAND_HATCH] = MIN_PPRZ; })
#define NavDropAligned() Qdr(DegOfRad(nav_drop_qdr_aligned)) -->
@@ -468,7 +468,7 @@ extern bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t e
<!-- *********** Release Payload *********** -->
<block name="shoot">
<!-- TODO maybe extend crowbreak 80%? for slowes possible speed? -->
<!-- <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
<!-- <set value="0" var="commands[COMMAND_BRAKE]"/> -->
<!-- TODO is electrcal plane and almost there maybe stop proppelor from spinning for a few seconds -->
<call_once fun="NavDropShoot()"/>
<!-- TODO add maxspeed again -->
conf/flight_plans/OPENUAS/include_obc2014_testing.xml
+1 -1
View File
@@ -10,7 +10,7 @@
<blocks>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<call fun="Fly()"/>
<!-- <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
<!-- <set value="0" var="commands[COMMAND_BRAKE]"/> -->
<circle alt="WaypointAlt(WP_STDBY)" radius="nav_radius" wp="STDBY"/>
</block>
<!--Below routes that are handy for testing only when in the field and performing several tests -->
conf/flight_plans/OPENUAS/openuas_versatile_unified.xml
+6 -6
View File
@@ -131,11 +131,11 @@ Should be unified for Hybrid, FW and rotorcraft
<!--<while cond="!GpsFixValid() || gps.pacc @GT 1500 || stateIsAttitudeValid()"/>-->
<while cond="!GpsFixValid()"/>
<!-- Wiggle Wiggle when we have GPS , time to fly...-->
<!--<set var="ap_state->commands[COMMAND_YAW]" value="-MAX_PPRZ"/>
<!--<set var="commands[COMMAND_YAW]" value="-MAX_PPRZ"/>
<while cond="LessThan(NavBlockTime(), 2)"/>
<set var="ap_state->commands[COMMAND_YAW]" value="MAX_PPRZ"/>
<set var="commands[COMMAND_YAW]" value="MAX_PPRZ"/>
<while cond="LessThan(NavBlockTime(), 3)"/>
<set var="ap_state->commands[COMMAND_YAW]" value="-MAX_PPRZ"/>-->
<set var="commands[COMMAND_YAW]" value="-MAX_PPRZ"/>-->
</block>
<!-- *********** Set the ground reference height and the home position *********** -->
@@ -165,8 +165,8 @@ Should be unified for Hybrid, FW and rotorcraft
-->
<block name="ReadyForDeparture" >
<!-- <set value="0" var="ap_state->commands[COMMAND_CAMBER]"/> -->
<!-- <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
<!-- <set value="0" var="commands[COMMAND_CAMBER]"/> -->
<!-- <set value="0" var="commands[COMMAND_BRAKE]"/> -->
<set var="v_ctl_speed_mode" value="V_CTL_SPEED_AIRSPEED" /><!-- set the preferred flight mode -->
<!-- Must have an RC for this flightplan and on at least for the start, we wait till the throttle is high -->
<exception cond="ThrottleHigh()" deroute="Takeoff"/>
@@ -174,7 +174,7 @@ Should be unified for Hybrid, FW and rotorcraft
</block>
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png" group="Ops">
<!-- <set var="ap_state->commands[COMMAND_LIGHT]" value="PPRZ_MAX"/> -->
<!-- <set var="commands[COMMAND_LIGHT]" value="PPRZ_MAX"/> -->
<set var="autopilot.kill_throttle" value="0"/>
<!--<var="autopilot.launch" set value="1" />-->
<while cond="1 @GT autopilot.launch"/> <!-- Setting of launch performed with takeoff_detect module disable -->
conf/modules/system_core.xml
+1
View File
@@ -28,6 +28,7 @@
<include name="$(SRC_MODULES)"/>
<file name="sys_time.c" dir="mcu_periph"/>
<file name="commands.c"/>
<define name="USE_COMMANDS"/>
<file_arch name="sys_time_arch.c" dir="mcu_periph"/>
<file_arch name="led_hw.c" dir="." cond="ifeq ($(ARCH), stm32)"/>
<file_arch name="led_hw.c" dir="." cond="ifeq ($(TARGET), sim)"/>
conf/settings/control/ctl_adaptive.xml
-5
View File
@@ -6,11 +6,6 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
conf/settings/control/ctl_basic.xml
-6
View File
@@ -6,12 +6,6 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
<dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="60" MIN="0" STEP="1." VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
conf/settings/control/ctl_energy.xml
-5
View File
@@ -6,11 +6,6 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="60" MIN="0" STEP="1." VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
conf/settings/control/ctl_energyadaptive.xml
-7
View File
@@ -6,13 +6,6 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
conf/settings/control/ctl_new.xml
-5
View File
@@ -6,11 +6,6 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
conf/settings/control/ctl_new_airspeed.xml
-5
View File
@@ -6,11 +6,6 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN" module="stabilization/stabilization_attitude"/>
sw/airborne/arch/sim/modules/radio_control/spektrum_arch.c
-1
View File
@@ -27,7 +27,6 @@
*/
#include "modules/radio_control/radio_control.h"
#include "modules/radio_control/spektrum_arch.h"
#include "modules/radio_control/spektrum.h"
#include "modules/core/abi.h"
#include "std.h"
sw/airborne/arch/sim/modules/radio_control/spektrum_arch.h
-32
View File
@@ -1,32 +0,0 @@
/*
* Copyright (C) 2010 Eric Parsonage <eric@eparsonage.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* 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.
*
*/
#ifndef RADIO_CONTROL_SPEKTRUM_ARCH_H
#define RADIO_CONTROL_SPEKTRUM_ARCH_H
#include "modules/radio_control/spektrum_radio.h"
#if USE_NPS
extern void radio_control_feed(void);
#endif
#endif /* RADIO_CONTROL_SPEKTRUM_ARCH_H */
sw/airborne/firmwares/fixedwing/nav.h
+1 -1
View File
@@ -136,7 +136,7 @@ extern float baseleg_out_qdr;
extern void nav_compute_baseleg(uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius);
extern void nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide);
#define RCLost() bit_is_set(imcu_get_status(), STATUS_RADIO_REALLY_LOST)
#define RCLost() RadioControlIsLost()
extern void nav_follow(uint8_t _ac_id, float _distance, float _height);
#define NavFollow(_ac_id, _distance, _height) nav_follow(_ac_id, _distance, _height)
sw/airborne/main_fbw.c
-9
View File
@@ -37,15 +37,6 @@
#include "modules/datalink/datalink.h"
#include "modules/datalink/telemetry.h"
/* So one can use these in command_laws section */
#define And(x, y) ((x) && (y))
#define Or(x, y) ((x) || (y))
#define Min(x,y) (x < y ? x : y)
#define Max(x,y) (x > y ? x : y)
#define LessThan(_x, _y) ((_x) < (_y))
#define MoreThan(_x, _y) ((_x) > (_y))
/** Fly by wire modes */
uint8_t fbw_mode;
bool fbw_motors_on = false;
sw/airborne/modules/actuators/actuators.c
+2
View File
@@ -87,6 +87,7 @@ void actuators_init(void)
*/
void actuators_periodic(void)
{
#if USE_COMMANDS
pprz_t trimmed_commands[COMMANDS_NB];
int i;
for (i = 0; i < COMMANDS_NB; i++) {trimmed_commands[i] = commands[i];}
@@ -113,6 +114,7 @@ void actuators_periodic(void)
SetActuatorsFromCommands(trimmed_commands, autopilot_get_mode());
// TODO SetApOnlyActuatorsFromCommands(ap_commands, autopilot_get_mode());
#endif
#endif // USE_COMMANDS
}
#else // No command_laws section or no actuators
sw/airborne/modules/core/commands.h
+4
View File
@@ -31,6 +31,8 @@
#include "paparazzi.h"
#include "generated/airframe.h"
#if COMMANDS_NB // commands are defined and nb is > 0
/** Storage of intermediate command values.
* These values come from the RC (MANUAL mode), from the autopilot (AUTO mode) or from control loops.
* They are asyncronisly used to set the servos
@@ -74,6 +76,8 @@ static inline pprz_t command_get(uint8_t idx)
return 0; // is it the best value ???
}
#endif
extern void commands_init(void);
#endif /* COMMANDS_H */
sw/airborne/modules/datalink/telemetry.c
+4
View File
@@ -30,7 +30,9 @@
#include "modules/datalink/telemetry_common.h"
#include "modules/datalink/telemetry.h"
#include "generated/periodic_telemetry.h"
#if FIXEDWING_FIRMWARE || ROTORCRAFT_FIRMWARE || ROVER_FIRMWARE
#include "autopilot.h"
#endif
/* Implement global structures from generated header.
@@ -74,6 +76,7 @@ int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id,
*/
void telemetry_reporting_task(void)
{
#if FIXEDWING_FIRMWARE || ROTORCRAFT_FIRMWARE || ROVER_FIRMWARE
static uint8_t boot = true;
/* initialisation phase during boot */
@@ -96,6 +99,7 @@ void telemetry_reporting_task(void)
periodic_telemetry_send_Main(DefaultPeriodic, &(DefaultChannel).trans_tx, &(DefaultDevice).device);
#endif
}
#endif
}
sw/airborne/modules/nav/common_flight_plan.h
-7
View File
@@ -56,13 +56,6 @@ void nav_goto_block(uint8_t block_id);
#define Goto(x) { goto label_ ## x; }
#define Return(x) { nav_block=last_block; if (x==1) {nav_stage=0;} else {nav_stage=last_stage;} block_time=0;}
#define And(x, y) ((x) && (y))
#define Or(x, y) ((x) || (y))
#define Min(x,y) (x < y ? x : y)
#define Max(x,y) (x > y ? x : y)
#define LessThan(_x, _y) ((_x) < (_y))
#define MoreThan(_x, _y) ((_x) > (_y))
/** Time in s since the entrance in the current block */
#define NavBlockTime() (block_time)
sw/airborne/modules/px4_gimbal/px4_gimbal.c
+1
View File
@@ -12,6 +12,7 @@
#include "modules/px4_gimbal/px4_gimbal.h"
#include "modules/radio_control/radio_control.h"
#include "generated/modules.h" // for RC channels definition
#include "generated/airframe.h" // AC_ID is required
#include "modules/actuators/actuators.h"
sw/airborne/modules/radio_control/spektrum.h
+4
View File
@@ -67,4 +67,8 @@ extern void spektrum_init(void);
extern void spektrum_event(void);
extern void spektrum_try_bind(void);
#if USE_NPS
extern void radio_control_feed(void);
#endif
#endif /* RADIO_CONTROL_SPEKTRUM_H */
sw/airborne/modules/switching/auto1_commands.c
+1
View File
@@ -24,6 +24,7 @@
#include "generated/airframe.h"
#include "autopilot.h"
#include "modules/core/commands.h"
#include "generated/modules.h" // for radio_control channels
void periodic_auto1_commands(void)
{
sw/include/std.h
+4
View File
@@ -93,8 +93,12 @@ typedef uint8_t unit_t;
#define MOfCm(_x) (((float)(_x))/100.)
#define MOfMm(_x) (((float)(_x))/1000.)
#define And(x, y) ((x) && (y))
#define Or(x, y) ((x) || (y))
#define Min(x,y) (x < y ? x : y)
#define Max(x,y) (x > y ? x : y)
#define LessThan(_x, _y) ((_x) < (_y))
#define MoreThan(_x, _y) ((_x) > (_y))
#ifndef ABS
#define ABS(val) ((val) < 0 ? -(val) : (val))
sw/tools/generators/gen_flight_plan.ml
+2
View File
@@ -1089,6 +1089,7 @@ let print_flight_plan_h = fun xml ref0 xml_file out_file ->
List.map (fun w -> incr i; (name_of w, !i)) waypoints in
(* print sectors *)
lprintf out "\n#ifndef FBW\n\n"; (* workaround to hide sector functions on FBW side *)
let sectors_element = try ExtXml.child xml "sectors" with Not_found -> Xml.Element ("", [], []) in
let sectors = List.filter (fun x -> String.lowercase_ascii (Xml.tag x) = "sector") (Xml.children sectors_element) in
List.iter (fun x -> match ExtXml.attrib_opt x "type" with
@@ -1106,6 +1107,7 @@ let print_flight_plan_h = fun xml ref0 xml_file out_file ->
with
_ -> ()
end;
lprintf out "\n#endif\n"; (* workaround to hide sector functions on FBW side *)
(* start "C" part *)
lprintf out "\n#ifdef NAV_C\n\n";