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fix a bug in the check_motor mechanism (NavResurrect was not possible

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Gautier Hattenberger
2011-09-08 18:59:42 +02:00
parent f5531a4a8e
commit 3113ebea5a
3 changed files with 12 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/autopilot.c
+9
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@@ -230,6 +230,15 @@ static inline int ahrs_is_aligned(void) {
} }
#endif #endif
/** Set motors ON or OFF and change the status of the check_motors state machine
*/
void autopilot_set_motors_on(bool_t motors_on) {
autopilot_motors_on = motors_on;
kill_throttle = ! autopilot_motors_on;
if (autopilot_motors_on) autopilot_check_motor_status = STATUS_MOTORS_ON;
else autopilot_check_motor_status = STATUS_MOTORS_OFF;
}
/** /**
* State machine to check if motors should be turned ON or OFF * State machine to check if motors should be turned ON or OFF
* The motors start/stop when pushing the yaw stick without throttle during a given time * The motors start/stop when pushing the yaw stick without throttle during a given time
sw/airborne/firmwares/rotorcraft/autopilot.h
+1
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@@ -60,6 +60,7 @@ extern void autopilot_init(void);
extern void autopilot_periodic(void); extern void autopilot_periodic(void);
extern void autopilot_on_rc_frame(void); extern void autopilot_on_rc_frame(void);
extern void autopilot_set_mode(uint8_t new_autopilot_mode); extern void autopilot_set_mode(uint8_t new_autopilot_mode);
extern void autopilot_set_motors_on(bool_t motors_on);
extern bool_t autopilot_detect_ground; extern bool_t autopilot_detect_ground;
extern bool_t autopilot_detect_ground_once; extern bool_t autopilot_detect_ground_once;
sw/airborne/firmwares/rotorcraft/navigation.h
+2 -2
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@@ -76,8 +76,8 @@ bool_t nav_detect_ground(void);
void nav_home(void); void nav_home(void);
#define NavKillThrottle() ({ if (autopilot_mode == AP_MODE_NAV) { kill_throttle = 1; autopilot_motors_on = 0; } FALSE; }) #define NavKillThrottle() ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(FALSE); } FALSE; })
#define NavResurrect() ({ if (autopilot_mode == AP_MODE_NAV) { kill_throttle = 0; autopilot_motors_on = 1; } FALSE; }) #define NavResurrect() ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(TRUE); } FALSE; })
#define NavSetGroundReferenceHere() ({ nav_reset_reference(); FALSE; }) #define NavSetGroundReferenceHere() ({ nav_reset_reference(); FALSE; })