diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml index baf7be8283..3d2c540bea 100644 --- a/conf/airframes/CDW/ChimuLisaFw.xml +++ b/conf/airframes/CDW/ChimuLisaFw.xml @@ -88,7 +88,7 @@
- + diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml index 3831d918d2..fbc8314468 100644 --- a/conf/airframes/CDW/ChimuTinyFw.xml +++ b/conf/airframes/CDW/ChimuTinyFw.xml @@ -112,7 +112,7 @@
- + diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml index 43e48e551d..38fbbb5ba3 100644 --- a/conf/airframes/CDW/ChimuTinyFwSpi.xml +++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml @@ -112,7 +112,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml index 3199fdc038..62f6ae203f 100644 --- a/conf/airframes/ENAC/fixed-wing/firestorm.xml +++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml @@ -175,7 +175,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml index 590d0f132c..6b83e906bb 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml @@ -170,7 +170,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml index 35a81064d0..0476c3b588 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml @@ -190,7 +190,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml index 0b3075f4fe..491d929c4f 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml @@ -190,7 +190,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml index 976dad60b6..b77e8c9aee 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet3.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml @@ -167,7 +167,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml index 8cf168b61f..424311096e 100644 --- a/conf/airframes/ENAC/fixed-wing/merlin.xml +++ b/conf/airframes/ENAC/fixed-wing/merlin.xml @@ -151,7 +151,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml index f4eebf8834..3b95841ba7 100644 --- a/conf/airframes/ENAC/fixed-wing/minimag1.xml +++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml @@ -156,7 +156,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml index f77fb115e8..4bc8f0de5f 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml @@ -158,7 +158,7 @@ on
- + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml index 73459dc2fe..1427c76a25 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml @@ -142,7 +142,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml index 468d45916c..787726a215 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml @@ -139,7 +139,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml index 46d368aea6..dab8735694 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml @@ -143,7 +143,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml index dbec277f60..2df851b499 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml @@ -144,7 +144,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml index 5aad0acf1f..f913066a3a 100644 --- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml @@ -146,7 +146,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml index f376da0931..72ba68d94a 100644 --- a/conf/airframes/ENAC/fixed-wing/overview.xml +++ b/conf/airframes/ENAC/fixed-wing/overview.xml @@ -145,7 +145,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml index ab7f242bbe..b095951e5f 100644 --- a/conf/airframes/ENAC/fixed-wing/soarzi.xml +++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml @@ -136,7 +136,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml index dbc2822dc1..52212642fa 100644 --- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml +++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml @@ -147,7 +147,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml index 1036483158..811a3121ca 100644 --- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml +++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml @@ -174,7 +174,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml index 11be1e9b4c..8a81fad5f5 100644 --- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml +++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml @@ -177,7 +177,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml index 959a400c62..522e31e161 100644 --- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml @@ -164,7 +164,7 @@
- + diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml index d911596b30..680cc7b093 100644 --- a/conf/airframes/ENAC/fixed-wing/weasel.xml +++ b/conf/airframes/ENAC/fixed-wing/weasel.xml @@ -191,7 +191,7 @@
- + diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml index 19bd277cb9..4d159af461 100644 --- a/conf/airframes/LAAS/mmlaas_N1.xml +++ b/conf/airframes/LAAS/mmlaas_N1.xml @@ -166,7 +166,7 @@
- + diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml index d9828c9bb3..db66a2502e 100644 --- a/conf/airframes/LAAS/mmlaas_N2.xml +++ b/conf/airframes/LAAS/mmlaas_N2.xml @@ -162,7 +162,7 @@
- + diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml index 46bc09b2cf..bdbdcc4842 100644 --- a/conf/airframes/LAAS/mmlaas_N3.xml +++ b/conf/airframes/LAAS/mmlaas_N3.xml @@ -162,7 +162,7 @@
- + diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml index 4e10892cf5..b8d757f5e7 100644 --- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml +++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml @@ -149,7 +149,7 @@
- + diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml index 44791bc811..752ce2d4d6 100644 --- a/conf/airframes/Poine/easy_glider1.xml +++ b/conf/airframes/Poine/easy_glider1.xml @@ -116,7 +116,7 @@
- + diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml index b1cce6838f..14b5290baf 100644 --- a/conf/airframes/Poine/funjet42.xml +++ b/conf/airframes/Poine/funjet42.xml @@ -141,7 +141,7 @@
- + diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml index e736a7fe9d..2b87c0ea1a 100644 --- a/conf/airframes/Poine/swift_1.xml +++ b/conf/airframes/Poine/swift_1.xml @@ -135,7 +135,7 @@
- + diff --git a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml index 96d2fce242..54c1d4dddc 100644 --- a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml +++ b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml @@ -113,7 +113,7 @@
- + diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml index ffafe387ba..376344091c 100644 --- a/conf/airframes/TU_Delft/MicrojetBR.xml +++ b/conf/airframes/TU_Delft/MicrojetBR.xml @@ -138,7 +138,7 @@
- + diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml index 681291c9d6..4bd0e6fabd 100644 --- a/conf/airframes/TU_Delft/MicrojetBRimu.xml +++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml @@ -173,7 +173,7 @@
- + diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml index a778aeb5ff..f16b6e77e1 100644 --- a/conf/airframes/TU_Delft/MicrojetCDW.xml +++ b/conf/airframes/TU_Delft/MicrojetCDW.xml @@ -149,7 +149,7 @@
- + diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml index 0666e4fb0b..897a1199bd 100644 --- a/conf/airframes/TU_Delft/Trip50A.xml +++ b/conf/airframes/TU_Delft/Trip50A.xml @@ -161,7 +161,7 @@
- + diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml index 66eec6c4eb..5ed7824f85 100644 --- a/conf/airframes/TU_Delft/skywalker.xml +++ b/conf/airframes/TU_Delft/skywalker.xml @@ -147,7 +147,7 @@
- + diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml index a962c1f226..537206ba25 100644 --- a/conf/airframes/TU_Delft/skywalkerfiber.xml +++ b/conf/airframes/TU_Delft/skywalkerfiber.xml @@ -275,7 +275,7 @@
- + diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml index 9cd56e7fe7..d4ce56fe5e 100644 --- a/conf/airframes/delta_wing_minimal_example.xml +++ b/conf/airframes/delta_wing_minimal_example.xml @@ -124,7 +124,7 @@
- + diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml index 6c6b05f160..a7d56fa166 100644 --- a/conf/airframes/demo_module.xml +++ b/conf/airframes/demo_module.xml @@ -116,7 +116,7 @@
- + diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml index 9bbb174eab..c4bc6adf9c 100644 --- a/conf/airframes/easy_glider_example.xml +++ b/conf/airframes/easy_glider_example.xml @@ -109,7 +109,7 @@
- + diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml index 775ab6dec7..4f118aeef1 100644 --- a/conf/airframes/easystar_ets_example.xml +++ b/conf/airframes/easystar_ets_example.xml @@ -142,7 +142,7 @@
- + diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml index 58c5b0c2e6..60be442a8b 100644 --- a/conf/airframes/easystar_example.xml +++ b/conf/airframes/easystar_example.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml index 628e12060f..b5550589fe 100644 --- a/conf/airframes/example_twog_analogimu.xml +++ b/conf/airframes/example_twog_analogimu.xml @@ -143,7 +143,7 @@
- + diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml index 67f58b3f8e..e53ee2665d 100644 --- a/conf/airframes/flixr_discovery.xml +++ b/conf/airframes/flixr_discovery.xml @@ -298,7 +298,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
- + diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml index fb56a7b534..c409a98d0f 100644 --- a/conf/airframes/funjet_cam_example.xml +++ b/conf/airframes/funjet_cam_example.xml @@ -155,7 +155,7 @@
- + diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml index af247be133..6db1c18a40 100644 --- a/conf/airframes/funjet_example.xml +++ b/conf/airframes/funjet_example.xml @@ -146,7 +146,7 @@
- + diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml index 73e3f587d7..c51ddef6e7 100644 --- a/conf/airframes/jsbsim.xml +++ b/conf/airframes/jsbsim.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml index df5cd797f7..9a7440fc0c 100644 --- a/conf/airframes/mentor_tum.xml +++ b/conf/airframes/mentor_tum.xml @@ -168,7 +168,7 @@
- + diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml index fc8249b7c7..1dc1038524 100644 --- a/conf/airframes/microjet_example.xml +++ b/conf/airframes/microjet_example.xml @@ -123,7 +123,7 @@
- + diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml index 3073f74886..8d9baac64d 100644 --- a/conf/airframes/mm/extra/press_t.xml +++ b/conf/airframes/mm/extra/press_t.xml @@ -135,7 +135,7 @@
- + diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml index 01811ad4a0..dfe193ddfc 100644 --- a/conf/airframes/mm/extra/probe_t.xml +++ b/conf/airframes/mm/extra/probe_t.xml @@ -155,7 +155,7 @@
- + diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml index 9effbb7af9..b2f1b5d60f 100644 --- a/conf/airframes/mm/extra/turbine_trigger.xml +++ b/conf/airframes/mm/extra/turbine_trigger.xml @@ -133,7 +133,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml index 601e3fbfb1..9d1ecb6601 100644 --- a/conf/airframes/mm/fixed-wing/drops.xml +++ b/conf/airframes/mm/fixed-wing/drops.xml @@ -174,7 +174,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml index 8b5ef239d1..7129d57475 100644 --- a/conf/airframes/mm/fixed-wing/funjet43.xml +++ b/conf/airframes/mm/fixed-wing/funjet43.xml @@ -157,7 +157,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml index 57904e0b7a..3264f9ad95 100644 --- a/conf/airframes/mm/fixed-wing/funjetdca.xml +++ b/conf/airframes/mm/fixed-wing/funjetdca.xml @@ -168,7 +168,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml index 726d92b8a4..4d8b020aaa 100644 --- a/conf/airframes/mm/fixed-wing/funjetdcb.xml +++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml @@ -168,7 +168,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml index 375307d6d9..e52436d4d1 100644 --- a/conf/airframes/mm/fixed-wing/funjetdcc.xml +++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml @@ -168,7 +168,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml index a65932583a..92298a8c86 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth1.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml @@ -131,7 +131,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml index ab569e0540..fb1ccd68f1 100644 --- a/conf/airframes/mm/fixed-wing/funjeteth2.xml +++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml @@ -132,7 +132,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml index bd39cefb89..5f5a62b064 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml @@ -130,7 +130,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml index 6dd3339263..89e7081123 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml index a0bac989c2..df916c8ad1 100644 --- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml index e6f10ef4eb..38b011eedc 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml @@ -128,7 +128,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml index b90be3eb3b..4705288cc8 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml @@ -127,7 +127,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml index e7326bcfe3..086cc330aa 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml @@ -127,7 +127,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml index c2417140f0..f767d86986 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml index ba7035b60e..37a5de8a46 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml index 2938facb71..088019751d 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml index 484ea47451..f5640e7123 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml @@ -163,7 +163,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml index 4a10711d40..e958156ae9 100644 --- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml +++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml index f466510bd0..77a9984e29 100644 --- a/conf/airframes/mm/fixed-wing/funjetlisa.xml +++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml @@ -142,7 +142,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml index 4c69b76590..b6cf73ae2e 100644 --- a/conf/airframes/mm/fixed-wing/funjetlisam.xml +++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml @@ -142,7 +142,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml index a83519cc58..674d0c463c 100644 --- a/conf/airframes/mm/fixed-wing/funjetmm.xml +++ b/conf/airframes/mm/fixed-wing/funjetmm.xml @@ -200,7 +200,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml index 61b63da805..0ad818e297 100644 --- a/conf/airframes/mm/fixed-wing/funjetmm2.xml +++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml @@ -135,7 +135,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml index a49ab053c5..9ae9b8402f 100644 --- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml +++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml @@ -160,7 +160,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml index 86edca5120..f039eeb137 100644 --- a/conf/airframes/mm/fixed-wing/merlin.xml +++ b/conf/airframes/mm/fixed-wing/merlin.xml @@ -123,7 +123,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml index 18705e7491..ec26f8816b 100644 --- a/conf/airframes/mm/fixed-wing/miniwing.xml +++ b/conf/airframes/mm/fixed-wing/miniwing.xml @@ -127,7 +127,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml index 3c8721be19..0a1255109b 100644 --- a/conf/airframes/mm/fixed-wing/slowfast.xml +++ b/conf/airframes/mm/fixed-wing/slowfast.xml @@ -158,7 +158,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml index d4c4983651..9f4d9a442a 100644 --- a/conf/airframes/mm/fixed-wing/slowfast2.xml +++ b/conf/airframes/mm/fixed-wing/slowfast2.xml @@ -174,7 +174,7 @@
- + diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml index 2449e4b47a..8e96b9ac72 100644 --- a/conf/airframes/mm/fixed-wing/twinstarmm.xml +++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml @@ -152,7 +152,7 @@
- + diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml index d7e6d06287..64cdf7f218 100644 --- a/conf/airframes/mm/hangar/black_one.xml +++ b/conf/airframes/mm/hangar/black_one.xml @@ -149,7 +149,7 @@
- + diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml index 82b92dedd8..d077e273cf 100644 --- a/conf/airframes/mm/hangar/glass_one1.xml +++ b/conf/airframes/mm/hangar/glass_one1.xml @@ -138,7 +138,7 @@
- + diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml index 3848eadc40..0888db47a3 100644 --- a/conf/airframes/mm/hangar/glass_one2.xml +++ b/conf/airframes/mm/hangar/glass_one2.xml @@ -122,7 +122,7 @@
- + diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml index 834100ad89..a6fecc24eb 100644 --- a/conf/airframes/mm/hangar/glass_one3.xml +++ b/conf/airframes/mm/hangar/glass_one3.xml @@ -139,7 +139,7 @@
- + diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml index 1dd11c946a..34eede4868 100644 --- a/conf/airframes/mm/hangar/lila.xml +++ b/conf/airframes/mm/hangar/lila.xml @@ -141,7 +141,7 @@
- + diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml index 63dae8793b..b0446d3e98 100644 --- a/conf/airframes/mm/hangar/mac06a.xml +++ b/conf/airframes/mm/hangar/mac06a.xml @@ -134,7 +134,7 @@
- + diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml index 2c074fcba9..fb50eac31a 100644 --- a/conf/airframes/mm/hangar/red_one.xml +++ b/conf/airframes/mm/hangar/red_one.xml @@ -148,7 +148,7 @@
- + diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml index bc44601368..07bee6cea8 100644 --- a/conf/airframes/obsolete/easystar2.xml +++ b/conf/airframes/obsolete/easystar2.xml @@ -130,7 +130,7 @@
- + diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml index 653b66330c..60fb4241a1 100644 --- a/conf/airframes/obsolete/hitl_usb.xml +++ b/conf/airframes/obsolete/hitl_usb.xml @@ -68,7 +68,7 @@
- + diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml index b56de424ca..9ce10fb8fa 100644 --- a/conf/airframes/obsolete/kalscott_easystar.xml +++ b/conf/airframes/obsolete/kalscott_easystar.xml @@ -110,7 +110,7 @@
- + diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml index bed7e4dce1..68ec16aaac 100644 --- a/conf/airframes/obsolete/malolo_sim.xml +++ b/conf/airframes/obsolete/malolo_sim.xml @@ -138,7 +138,7 @@
- + diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml index 5a7971bc76..6b80028972 100644 --- a/conf/airframes/obsolete/microjet5.xml +++ b/conf/airframes/obsolete/microjet5.xml @@ -135,7 +135,7 @@
- + diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml index 5e2287cacd..310a64863b 100644 --- a/conf/airframes/obsolete/microjet5_tp_auto.xml +++ b/conf/airframes/obsolete/microjet5_tp_auto.xml @@ -96,7 +96,7 @@
- + diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml index 71f9184796..3aee9773ec 100644 --- a/conf/airframes/obsolete/microjet6.xml +++ b/conf/airframes/obsolete/microjet6.xml @@ -134,7 +134,7 @@
- + diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml index 1be67762ec..a925ac4c0d 100644 --- a/conf/airframes/obsolete/microjetI.xml +++ b/conf/airframes/obsolete/microjetI.xml @@ -137,7 +137,7 @@
- + diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml index 913e68d99b..2fb8d9b355 100644 --- a/conf/airframes/obsolete/microjetII.xml +++ b/conf/airframes/obsolete/microjetII.xml @@ -139,7 +139,7 @@
- + diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml index 4697f6e2cc..40399e49a0 100644 --- a/conf/airframes/obsolete/microjetIII.xml +++ b/conf/airframes/obsolete/microjetIII.xml @@ -125,7 +125,7 @@
- + diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml index 28b71fef98..71b1d37d48 100644 --- a/conf/airframes/obsolete/microjet_raw_makefile.xml +++ b/conf/airframes/obsolete/microjet_raw_makefile.xml @@ -140,7 +140,7 @@
- + diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml index ca7a519a97..9869779279 100644 --- a/conf/airframes/obsolete/minimag1.xml +++ b/conf/airframes/obsolete/minimag1.xml @@ -128,7 +128,7 @@
- + diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml index 2f73162216..3f002ddf58 100644 --- a/conf/airframes/obsolete/minimag_fs.xml +++ b/conf/airframes/obsolete/minimag_fs.xml @@ -142,7 +142,7 @@
- + diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml index fc0c478d96..333e810511 100644 --- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml +++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml @@ -127,7 +127,7 @@
- + diff --git a/conf/airframes/obsolete/osam_xsens_twog.xml b/conf/airframes/obsolete/osam_xsens_twog.xml index ecbbaac663..45e84d9543 100644 --- a/conf/airframes/obsolete/osam_xsens_twog.xml +++ b/conf/airframes/obsolete/osam_xsens_twog.xml @@ -165,7 +165,7 @@
- + diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml index d44389ac6e..ac02143aaa 100644 --- a/conf/airframes/obsolete/slayer1.xml +++ b/conf/airframes/obsolete/slayer1.xml @@ -131,7 +131,7 @@
- + diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml index b6f57d2451..62964f4717 100644 --- a/conf/airframes/obsolete/slayer3.xml +++ b/conf/airframes/obsolete/slayer3.xml @@ -131,7 +131,7 @@
- + diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml index 2cec49a721..295d22f28c 100644 --- a/conf/airframes/obsolete/slayerJH.xml +++ b/conf/airframes/obsolete/slayerJH.xml @@ -121,7 +121,7 @@
- + diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml index 784f96a463..66bde8f17c 100644 --- a/conf/airframes/obsolete/slicer1.xml +++ b/conf/airframes/obsolete/slicer1.xml @@ -135,7 +135,7 @@
- + diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml index 2705338724..e3eb27526f 100644 --- a/conf/airframes/obsolete/slicer2.xml +++ b/conf/airframes/obsolete/slicer2.xml @@ -129,7 +129,7 @@
- + diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml index ed3b0b5b42..b519bdd5d4 100644 --- a/conf/airframes/obsolete/spirit.xml +++ b/conf/airframes/obsolete/spirit.xml @@ -134,7 +134,7 @@
- + diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml index 108e8b940f..2bb7981b26 100644 --- a/conf/airframes/obsolete/spirit_proto.xml +++ b/conf/airframes/obsolete/spirit_proto.xml @@ -123,7 +123,7 @@
- + diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml index aa4eb82ea4..2d6f3a902e 100644 --- a/conf/airframes/obsolete/storm1.xml +++ b/conf/airframes/obsolete/storm1.xml @@ -158,7 +158,7 @@
- + diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml index d18fb4a59b..de30f79668 100644 --- a/conf/airframes/obsolete/tiny2.xml +++ b/conf/airframes/obsolete/tiny2.xml @@ -127,7 +127,7 @@
- + diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml index b784c66a5f..6f51a8ebec 100644 --- a/conf/airframes/obsolete/tiny_hitl.xml +++ b/conf/airframes/obsolete/tiny_hitl.xml @@ -119,7 +119,7 @@
- + diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index 8c2450f8d4..6960455d1b 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -80,7 +80,7 @@
- + diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml index 94e676fbfb..8227960663 100644 --- a/conf/airframes/obsolete/twinstar1.xml +++ b/conf/airframes/obsolete/twinstar1.xml @@ -82,7 +82,7 @@
- + diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml index 30aeb79607..3c81045b5b 100644 --- a/conf/airframes/obsolete/twinstar6.xml +++ b/conf/airframes/obsolete/twinstar6.xml @@ -90,7 +90,7 @@
- + diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml index 049cea6a4f..d30c6d88a4 100644 --- a/conf/airframes/obsolete/tyto1.xml +++ b/conf/airframes/obsolete/tyto1.xml @@ -145,7 +145,7 @@
- + diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml index 972d9e9809..76057c9007 100644 --- a/conf/airframes/obsolete/xxx1.xml +++ b/conf/airframes/obsolete/xxx1.xml @@ -141,7 +141,7 @@
- + diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml index c3b11a5df8..f730c88ce5 100644 --- a/conf/airframes/test_hb.xml +++ b/conf/airframes/test_hb.xml @@ -165,7 +165,7 @@
- + diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml index b85661fb78..ea504560e6 100644 --- a/conf/airframes/twinjet_example.xml +++ b/conf/airframes/twinjet_example.xml @@ -108,7 +108,7 @@
- + diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml index 3d2ab37504..5334b05e9b 100644 --- a/conf/airframes/twinjet_overo.xml +++ b/conf/airframes/twinjet_overo.xml @@ -110,7 +110,7 @@
- + diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml index 6d75ce1171..68a5d917a9 100644 --- a/conf/airframes/twinstar_example.xml +++ b/conf/airframes/twinstar_example.xml @@ -164,7 +164,7 @@
- + diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml index 519b6dddc1..8b00b62cda 100644 --- a/conf/airframes/usb_test.xml +++ b/conf/airframes/usb_test.xml @@ -144,7 +144,7 @@
- + diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml index 8e9538720e..fbf0f9025d 100644 --- a/conf/settings/tuning.xml +++ b/conf/settings/tuning.xml @@ -72,7 +72,7 @@ - + diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml index 08fe8c0834..f58a4aaacd 100644 --- a/conf/settings/tuningJH.xml +++ b/conf/settings/tuningJH.xml @@ -73,7 +73,7 @@ - + diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml index 7cd558dae2..0ad8e63eed 100644 --- a/conf/settings/tuning_ctl_adaptive.xml +++ b/conf/settings/tuning_ctl_adaptive.xml @@ -50,7 +50,7 @@ - + diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml index d283b907fb..b88502d2f6 100644 --- a/conf/settings/tuning_ctl_new.xml +++ b/conf/settings/tuning_ctl_new.xml @@ -68,7 +68,7 @@ - + diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml index aa9a9c18b0..08eaea0dff 100644 --- a/conf/settings/tuning_infrared.xml +++ b/conf/settings/tuning_infrared.xml @@ -89,7 +89,7 @@ - + diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml index 1f092a4a56..d665f2fe1e 100644 --- a/conf/settings/tuning_ins.xml +++ b/conf/settings/tuning_ins.xml @@ -80,7 +80,7 @@ - + diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml index 4ba4f43d96..eba587c996 100644 --- a/conf/settings/tuning_ins_dcm.xml +++ b/conf/settings/tuning_ins_dcm.xml @@ -83,7 +83,7 @@ - + diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml index eb6a88c2fe..f6ee8b760a 100644 --- a/conf/settings/tuning_loiter.xml +++ b/conf/settings/tuning_loiter.xml @@ -88,7 +88,7 @@ - + diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml index 28ee45a89f..0d4bf3cbf7 100644 --- a/conf/settings/tuning_pers.xml +++ b/conf/settings/tuning_pers.xml @@ -89,7 +89,7 @@ - + diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml index eb93da734a..d7088eff7c 100644 --- a/conf/settings/tuning_tp_auto.xml +++ b/conf/settings/tuning_tp_auto.xml @@ -63,7 +63,7 @@ - + diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c index ac964799ee..0032dc7137 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c @@ -119,8 +119,8 @@ void h_ctl_init( void ) { h_ctl_course_setpoint = 0.; h_ctl_course_pre_bank = 0.; h_ctl_course_pre_bank_correction = H_CTL_COURSE_PRE_BANK_CORRECTION; - h_ctl_course_pgain = H_CTL_COURSE_PGAIN; - h_ctl_course_dgain = H_CTL_COURSE_DGAIN; + h_ctl_course_pgain = ABS(H_CTL_COURSE_PGAIN); + h_ctl_course_dgain = ABS(H_CTL_COURSE_DGAIN); h_ctl_roll_max_setpoint = H_CTL_ROLL_MAX_SETPOINT; #ifdef USE_AOA @@ -238,7 +238,7 @@ void h_ctl_course_loop ( void ) { h_ctl_course_heading_mode = 0; } */ -#endif +#endif //STRONG_WIND float d_err = err - last_err; last_err = err; @@ -248,7 +248,7 @@ void h_ctl_course_loop ( void ) { #ifdef H_CTL_COURSE_SLEW_INCREMENT /* slew severe course changes (i.e. waypoint moves, block changes or perpendicular routes) */ static float h_ctl_course_slew_rate = 0.; - float nav_angle_saturation = -(h_ctl_roll_max_setpoint/h_ctl_course_pgain); /* heading error corresponding to max_roll */ + float nav_angle_saturation = h_ctl_roll_max_setpoint/h_ctl_course_pgain; /* heading error corresponding to max_roll */ float half_nav_angle_saturation = nav_angle_saturation / 2.; if (launch) { /* prevent accumulator run-up on the ground */ if (err > half_nav_angle_saturation) { @@ -270,7 +270,7 @@ void h_ctl_course_loop ( void ) { float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED; Bound(speed_depend_nav, 0.66, 1.5); - float cmd = h_ctl_course_pgain * speed_depend_nav * (err + d_err * h_ctl_course_dgain); + float cmd = -h_ctl_course_pgain * speed_depend_nav * (err + d_err * h_ctl_course_dgain); @@ -280,11 +280,11 @@ void h_ctl_course_loop ( void ) { if (v_ctl_auto_throttle_submode == V_CTL_AUTO_THROTTLE_AGRESSIVE || V_CTL_AUTO_THROTTLE_BLENDED) { BoundAbs(cmd, h_ctl_roll_max_setpoint); /* bound cmd before NAV_RATIO and again after */ if (v_ctl_altitude_error < 0) { - nav_ratio = AGR_CLIMB_NAV_RATIO + (1 - AGR_CLIMB_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END)); - Bound (nav_ratio, AGR_CLIMB_NAV_RATIO, 1); + nav_ratio = AGR_CLIMB_NAV_RATIO + (1 - AGR_CLIMB_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END)); + Bound (nav_ratio, AGR_CLIMB_NAV_RATIO, 1); } else { - nav_ratio = AGR_DESCENT_NAV_RATIO + (1 - AGR_DESCENT_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END)); - Bound (nav_ratio, AGR_DESCENT_NAV_RATIO, 1); + nav_ratio = AGR_DESCENT_NAV_RATIO + (1 - AGR_DESCENT_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END)); + Bound (nav_ratio, AGR_DESCENT_NAV_RATIO, 1); } cmd *= nav_ratio; } diff --git a/sw/airborne/modules/cam_control/booz_cam.c b/sw/airborne/modules/cam_control/booz_cam.c index 77d762db46..2082a831d3 100644 --- a/sw/airborne/modules/cam_control/booz_cam.c +++ b/sw/airborne/modules/cam_control/booz_cam.c @@ -28,6 +28,7 @@ #include "firmwares/rotorcraft/navigation.h" #include "subsystems/ins.h" #include "generated/flight_plan.h" +#include "std.h" uint8_t booz_cam_mode; @@ -83,7 +84,6 @@ void booz_cam_init(void) { #endif } -#define ABS(_x) ((_x) < 0 ? -(_x) : (_x)) #define D_TILT (BOOZ_CAM_TILT_MAX - BOOZ_CAM_TILT_MIN) #define CT_MIN Min(BOOZ_CAM_TILT_MIN,BOOZ_CAM_TILT_MAX) #define CT_MAX Max(BOOZ_CAM_TILT_MIN,BOOZ_CAM_TILT_MAX) diff --git a/sw/include/std.h b/sw/include/std.h index a359db6361..3def069a3e 100644 --- a/sw/include/std.h +++ b/sw/include/std.h @@ -86,6 +86,8 @@ typedef uint8_t unit_t; #define Min(x,y) (x < y ? x : y) #define Max(x,y) (x > y ? x : y) +#define ABS(val) ((val) < 0 ? -(val) : (val)) + #define Bound(_x, _min, _max) { if (_x > _max) _x = _max; else if (_x < _min) _x = _min; } #define BoundAbs(_x, _max) Bound(_x, -(_max), (_max)) #define Chop(_x, _min, _max) ( (_x) < (_min) ? (_min) : (_x) > (_max) ? (_max) : (_x) )