diff --git a/conf/TUDELFT/tudelft_conf.xml b/conf/TUDELFT/tudelft_conf.xml index ae0801bf38..77dedb2cba 100644 --- a/conf/TUDELFT/tudelft_conf.xml +++ b/conf/TUDELFT/tudelft_conf.xml @@ -71,7 +71,7 @@ airframe="airframes/CDW/bebop.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#f84eb57ae827" @@ -126,7 +126,7 @@ airframe="airframes/CDW/mavtec_cdw.xml" radio="radios/R6107SP_7ch.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml" settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml" settings_modules="modules/servo_switch.xml modules/gps_ubx_ucenter.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/geo_mag.xml]" gui_color="#ffffd5c5aead" @@ -225,7 +225,7 @@ airframe="airframes/BR/bebop_indi_frog.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#68f5eb116e0c" @@ -236,7 +236,7 @@ airframe="airframes/BR/bebop_indi_frog2.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#ffff957fcc75" diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml index b7d994c4e6..395c48f36b 100644 --- a/conf/airframes/BR/conf.xml +++ b/conf/airframes/BR/conf.xml @@ -27,7 +27,7 @@ airframe="airframes/BR/bebop_indi_frog.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" diff --git a/conf/airframes/CDW/conf.xml b/conf/airframes/CDW/conf.xml index c5fa4a4a9b..af195ed609 100644 --- a/conf/airframes/CDW/conf.xml +++ b/conf/airframes/CDW/conf.xml @@ -16,7 +16,7 @@ airframe="airframes/CDW/bebop.xml" radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" gui_color="#ffff0689b7a1" @@ -27,7 +27,7 @@ airframe="airframes/CDW/mavtec_cdw.xml" radio="radios/R6107SP_7ch.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml" + flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml" settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml" settings_modules="modules/servo_switch.xml modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml" gui_color="blue" diff --git a/conf/airframes/LS/conf.xml b/conf/airframes/LS/conf.xml index f3a2e06e62..c7ab829269 100644 --- a/conf/airframes/LS/conf.xml +++ b/conf/airframes/LS/conf.xml @@ -5,7 +5,7 @@ airframe="airframes/LS/quadrotor_altura_lisa_m_2_0.xml" radio="radios/spektrum.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/mavtec_outdoor_demo.xml" + flight_plan="flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml" settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml" settings_modules="modules/gps_ubx_ucenter.xml" gui_color="#00000000ffff" @@ -38,7 +38,7 @@ airframe="airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml" radio="radios/spektrum.xml" telemetry="telemetry/default_rotorcraft.xml" - flight_plan="flight_plans/mavtec_outdoor_demo.xml" + flight_plan="flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml" settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml" settings_modules="" gui_color="#ffff00000000" diff --git a/conf/flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml b/conf/flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml index bb560a97a4..de86a2ea8a 100644 --- a/conf/flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml +++ b/conf/flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml @@ -1,4 +1,4 @@ - +
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c index ce8196b72a..722e358bd0 100644 --- a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c +++ b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c @@ -41,16 +41,14 @@ PRINT_CONFIG_VAR(STEREO_UART) // define coms link for stereocam #define STEREO_PORT (&((STEREO_UART).device)) -struct link_device *dev = STEREO_PORT; +struct link_device *ldev = STEREO_PORT; -#define StereoGetch() STEREO_PORT ->get_byte(STEREO_PORT->periph) +#define StereoGetch() STEREO_PORT->get_byte(STEREO_PORT->periph) #define StereoSend1(c) STEREO_PORT->put_byte(STEREO_PORT->periph, c) #define StereoUartSend1(c) StereoSend1(c) #define StereoSend(_dat,_len) { for (uint8_t i = 0; i< (_len); i++) StereoSend1(_dat[i]); }; #define StereoUartSetBaudrate(_b) uart_periph_set_baudrate(STEREO_PORT, _b); -#define StereoChAvailable()(dev->char_available(dev->periph)) - - +#define StereoChAvailable()(ldev->char_available(ldev->periph)) void stereo_avoid_init(void) { diff --git a/sw/airborne/modules/stereocam/stereocam.c b/sw/airborne/modules/stereocam/stereocam.c index 069be84beb..25b27a781e 100644 --- a/sw/airborne/modules/stereocam/stereocam.c +++ b/sw/airborne/modules/stereocam/stereocam.c @@ -36,7 +36,7 @@ // define coms link for stereocam #define STEREO_PORT (&((UART_LINK).device)) -struct link_device *dev = STEREO_PORT; +struct link_device *linkdev = STEREO_PORT; #define StereoGetch() STEREO_PORT ->get_byte(STEREO_PORT->periph) // pervasive local variables @@ -97,7 +97,7 @@ extern void stereocam_stop(void) extern void stereocam_periodic(void) { // read all data from the stereo com link, check that don't overtake extract - while (dev->char_available(dev->periph) && stereoprot_add(insert_loc, 1, STEREO_BUF_SIZE) != extract_loc) { + while (linkdev->char_available(linkdev->periph) && stereoprot_add(insert_loc, 1, STEREO_BUF_SIZE) != extract_loc) { if (handleStereoPackage(StereoGetch(), STEREO_BUF_SIZE, &insert_loc, &extract_loc, &msg_start, msg_buf, ser_read_buf, &stereocam_data.fresh, &stereocam_data.len, &stereocam_data.matrix_width, &stereocam_data.matrix_height)) { freq_counter++;