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messages: renamed BOOZ2_TUNE_HOVER and BOOZ2_CMD to ROTORCRAFT_TUNE_HOVER and ROTORCRAFT_CMD

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This commit is contained in:
Felix Ruess
2012-03-27 22:05:48 +02:00
parent 313bde5157
commit 0c44569093
3 changed files with 65 additions and 67 deletions
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conf/messages.xml
+2 -2
View File
@@ -1116,7 +1116,7 @@
<field name="ref_rd" type="float" alt_unit="degres/s2" alt_unit_coef="57.29578"/>
</message>
<message name="BOOZ2_CMD" id="143">
<message name="ROTORCRAFT_CMD" id="143">
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
@@ -1207,7 +1207,7 @@
<field name="ref_ydd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
</message>
<message name="BOOZ2_TUNE_HOVER" id="150">
<message name="ROTORCRAFT_TUNE_HOVER" id="150">
<field name="rc_roll" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_pitch" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_yaw" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
conf/telemetry/default_rotorcraft.xml
+42 -43
View File
@@ -6,28 +6,28 @@
<process name="Main">
<mode name="default" key_press="d">
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_FP" period="0.25"/>
<message name="ALIVE" period="2.1"/>
<message name="INS_REF" period="5.1"/>
<message name="ALIVE" period="2.1"/>
<message name="INS_REF" period="5.1"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="WP_MOVED" period="1.3"/>
<message name="BOOZ2_CAM" period="1."/>
<message name="GPS_INT" period=".25"/>
<message name="INS" period=".25"/>
<message name="WP_MOVED" period="1.3"/>
<message name="BOOZ2_CAM" period="1."/>
<message name="GPS_INT" period=".25"/>
<message name="INS" period=".25"/>
</mode>
<mode name="ppm">
<message name="BOOZ2_CMD" period=".05"/>
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="ROTORCRAFT_CMD" period=".05"/>
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
<message name="ROTORCRAFT_STATUS" period="1"/>
<message name="ROTORCRAFT_STATUS" period="1"/>
</mode>
<mode name="raw_sensors">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_ACCEL_RAW" period=".05"/>
@@ -37,71 +37,70 @@
</mode>
<mode name="scaled_sensors">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_GYRO_SCALED" period=".075"/>
<message name="IMU_ACCEL_SCALED" period=".075"/>
<message name="IMU_MAG_SCALED" period=".1"/>
</mode>
<mode name="ahrs">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<!-- <message name="FILTER_ALIGNER" period=".1"/> -->
<message name="FILTER" period=".5"/>
<message name="FILTER" period=".5"/>
<!-- <message name="AHRS_QUAT_INT" period=".25"/> -->
<message name="AHRS_EULER_INT" period=".1"/>
<message name="AHRS_EULER_INT" period=".1"/>
<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
</mode>
<mode name="rate_loop">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="RATE_LOOP" period=".02"/>
<message name="RATE_LOOP" period=".02"/>
</mode>
<mode name="attitude_loop" key_press="a">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="STAB_ATTITUDE" period=".03"/>
<message name="STAB_ATTITUDE_REF" period=".03"/>
</mode>
<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<!-- <message name="BOOZ2_CMD" period=".05"/> -->
<message name="INS" period=".05"/>
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="h_loop" key_press="h">
<message name="ALIVE" period="0.9"/>
<message name="HOVER_LOOP" period="0.062"/>
<message name="STAB_ATTITUDE" period=".4"/>
<message name="HFF_DBG" period=".2"/>
<message name="ALIVE" period="0.9"/>
<message name="HOVER_LOOP" period="0.062"/>
<message name="STAB_ATTITUDE" period=".4"/>
<message name="HFF_DBG" period=".2"/>
<!--<message name="STAB_ATTITUDE_REF" period=".4"/>-->
<message name="ROTORCRAFT_FP" period="0.8"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="HFF_GPS" period=".03"/>
<message name="INS_REF" period="5.1"/>
<message name="ROTORCRAFT_FP" period="0.8"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="HFF_GPS" period=".03"/>
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="aligner">
<message name="ALIVE" period="0.9"/>
<message name="ALIVE" period="0.9"/>
<message name="FILTER_ALIGNER" period="0.02"/>
</mode>
<mode name="hs_att_roll">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ALIVE" period="0.9"/>
<message name="DL_VALUE" period="0.5"/>
<!-- <message name="STAB_ATTITUDE_HS_ROLL" period="0.02"/> -->
@@ -109,10 +108,10 @@
<mode name="tune_hover">
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ALIVE" period="2.1"/>
<!--<message name="BOOZ2_SONAR" period="0.1"/>-->
<!--<message name="BOOZ2_TUNE_HOVER" period=".1"/>-->
<!--<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>-->
<!-- <message name="GPS_INT" period=".20"/> -->
<!--<message name="INS2" period=".05"/>
<message name="INS3" period=".20"/>-->
sw/airborne/firmwares/rotorcraft/telemetry.h
+21 -22
View File
@@ -316,12 +316,12 @@
}
#define PERIODIC_SEND_BOOZ2_CMD(_trans, _dev) { \
DOWNLINK_SEND_BOOZ2_CMD(_trans, _dev, \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST]); \
#define PERIODIC_SEND_ROTORCRAFT_CMD(_trans, _dev) { \
DOWNLINK_SEND_ROTORCRAFT_CMD(_trans, _dev, \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST]); \
}
@@ -719,22 +719,21 @@
#define PERIODIC_SEND_BOOZ2_CAM(_trans, _dev) {}
#endif
#define PERIODIC_SEND_BOOZ2_TUNE_HOVER(_trans, _dev) { \
DOWNLINK_SEND_BOOZ2_TUNE_HOVER(_trans, _dev, \
&radio_control.values[RADIO_ROLL], \
&radio_control.values[RADIO_PITCH], \
&radio_control.values[RADIO_YAW], \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST], \
&ahrs.ltp_to_imu_euler.phi, \
&ahrs.ltp_to_imu_euler.theta, \
&ahrs.ltp_to_imu_euler.psi, \
&ahrs.ltp_to_body_euler.phi, \
&ahrs.ltp_to_body_euler.theta, \
&ahrs.ltp_to_body_euler.psi \
); \
#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev) { \
DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev, \
&radio_control.values[RADIO_ROLL], \
&radio_control.values[RADIO_PITCH], \
&radio_control.values[RADIO_YAW], \
&stabilization_cmd[COMMAND_ROLL], \
&stabilization_cmd[COMMAND_PITCH], \
&stabilization_cmd[COMMAND_YAW], \
&stabilization_cmd[COMMAND_THRUST], \
&ahrs.ltp_to_imu_euler.phi, \
&ahrs.ltp_to_imu_euler.theta, \
&ahrs.ltp_to_imu_euler.psi, \
&ahrs.ltp_to_body_euler.phi, \
&ahrs.ltp_to_body_euler.theta, \
&ahrs.ltp_to_body_euler.psi); \
}
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \