Mirrors_Framework/paparazzi
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Add periodic message for calibration status and calibration contrast.

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Remove useless HI_FREQ_PHASE_NB.
This commit is contained in:
Louis Dugrain
2005-08-27 14:26:33 +00:00
parent 1c0401ee19
commit 389020ffe7
1 changed files with 10 additions and 8 deletions
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sw/airborne/autopilot/main.c
+10 -8
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@@ -96,7 +96,8 @@ float energy; /** Fuel consumption */
#define CALIB_DONE 2 //!< Calibration done state #define CALIB_DONE 2 //!< Calibration done state
//@} //@}
/** Maximal delay for calibration */ /** Maximal delay waits before calibration.
After, no more calibration is possible */
#define MAX_DELAY_FOR_CALIBRATION 10 #define MAX_DELAY_FOR_CALIBRATION 10
@@ -198,8 +199,6 @@ uint8_t ticks_last_est; // 20Hz
/** Define number of message at initialisation */ /** Define number of message at initialisation */
#define INIT_MSG_NB 2 #define INIT_MSG_NB 2
/** @@@@@ A FIXER @@@@ */
#define HI_FREQ_PHASE_NB 5
uint8_t ac_ident = AC_ID; uint8_t ac_ident = AC_ID;
@@ -244,6 +243,8 @@ uint8_t ac_ident = AC_ID;
#define PERIODIC_SEND_CALIBRATION() DOWNLINK_SEND_CALIBRATION(&climb_sum_err, &climb_pgain, &course_pgain) #define PERIODIC_SEND_CALIBRATION() DOWNLINK_SEND_CALIBRATION(&climb_sum_err, &climb_pgain, &course_pgain)
/** Status of the calibration. Can be one of the \a calibration \a states */
static uint8_t calib_status = NO_CALIB;
/** \fn inline void ground_calibrate( void ) /** \fn inline void ground_calibrate( void )
* \brief Calibrate contrast if paparazzi mode is * \brief Calibrate contrast if paparazzi mode is
@@ -253,7 +254,6 @@ uint8_t ac_ident = AC_ID;
* If not, the default calibration is used. * If not, the default calibration is used.
*/ */
inline void ground_calibrate( void ) { inline void ground_calibrate( void ) {
static uint8_t calib_status = NO_CALIB;
switch (calib_status) { switch (calib_status) {
case NO_CALIB: case NO_CALIB:
if (cputime < MAX_DELAY_FOR_CALIBRATION && pprz_mode == PPRZ_MODE_AUTO1 ) { if (cputime < MAX_DELAY_FOR_CALIBRATION && pprz_mode == PPRZ_MODE_AUTO1 ) {
@@ -472,11 +472,13 @@ inline void periodic_task( void ) {
low_battery |= (t >= LOW_BATTERY_DELAY); low_battery |= (t >= LOW_BATTERY_DELAY);
if (in_circle) { if (in_circle) {
DOWNLINK_SEND_CIRCLE(&circle_x, &circle_y, &circle_radius); DOWNLINK_SEND_CIRCLE(&circle_x, &circle_y, &circle_radius); }
}
if (in_segment) { if (in_segment) {
DOWNLINK_SEND_SEGMENT(&segment_x_1, &segment_y_1, &segment_x_2, &segment_y_2); DOWNLINK_SEND_SEGMENT(&segment_x_1, &segment_y_1, &segment_x_2, &segment_y_2); }
} if (calib_status == WAITING_CALIB_CONTRAST) {
DOWNLINK_SEND_CALIB_START(); }
if (calib_status == CALIB_DONE && !estimator_flight_time) {
DOWNLINK_SEND_CALIB_CONTRAST(&ir_contrast); }
} }
switch(_4Hz) { switch(_4Hz) {
case 0: case 0: