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renamed vars booz2_commands* to commands*

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This commit is contained in:
Felix Ruess
2010-12-28 00:22:11 +01:00
parent d59b8494c0
commit 3974d46915
10 changed files with 31 additions and 31 deletions
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sw/airborne/csc/mercury_ap.c
+1 -1
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@@ -127,7 +127,7 @@ void csc_ap_init(void) {
}
// adapted from booz2_commands.h - cb6e74ae259a2384046f431c35735dc8018c0ecd
// adapted from commands.h - cb6e74ae259a2384046f431c35735dc8018c0ecd
// mmt -- 06/16/09
const pprz_t csc_ap_commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
sw/airborne/firmwares/beth/main_stm32.c
+6 -6
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@@ -68,8 +68,8 @@ static inline void main_init( void ) {
imu_init();
overo_link_init();
bench_sensors_init();
booz2_commands[COMMAND_ROLL] = 0;
booz2_commands[COMMAND_YAW] = 0;
commands[COMMAND_ROLL] = 0;
commands[COMMAND_YAW] = 0;
}
#define PITCH_MAGIC_NUMBER (121)
@@ -101,14 +101,14 @@ static inline void main_periodic( void ) {
//stop the motors if we've lost SPI or CAN link
//If SPI has had CRC error we don't stop motors
if ((spi_msg_cnt == 0) || (can_err_flags != 0)) {
booz2_commands[COMMAND_PITCH] = 0;
booz2_commands[COMMAND_THRUST] = 0;
commands[COMMAND_PITCH] = 0;
commands[COMMAND_THRUST] = 0;
actuators_set(FALSE);
overo_link.up.msg.can_errs = can_err_flags;
overo_link.up.msg.pitch_out = PITCH_MAGIC_NUMBER;
} else {
booz2_commands[COMMAND_PITCH] = pitch_out;
booz2_commands[COMMAND_THRUST] = thrust_out;
commands[COMMAND_PITCH] = pitch_out;
commands[COMMAND_THRUST] = thrust_out;
actuators_set(TRUE);
}
}
sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+5 -5
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@@ -61,10 +61,10 @@ void actuators_set(bool_t motors_on) {
actuators_asctec.cmds[YAW] = 0;
actuators_asctec.cmds[THRUST] = 0;
#else /* ! KILL_MOTORS */
actuators_asctec.cmds[PITCH] = booz2_commands[COMMAND_PITCH] + SUPERVISION_TRIM_E;
actuators_asctec.cmds[ROLL] = booz2_commands[COMMAND_ROLL] + SUPERVISION_TRIM_A;
actuators_asctec.cmds[YAW] = booz2_commands[COMMAND_YAW] + SUPERVISION_TRIM_R;
actuators_asctec.cmds[THRUST] = booz2_commands[COMMAND_THRUST];
actuators_asctec.cmds[PITCH] = commands[COMMAND_PITCH] + SUPERVISION_TRIM_E;
actuators_asctec.cmds[ROLL] = commands[COMMAND_ROLL] + SUPERVISION_TRIM_A;
actuators_asctec.cmds[YAW] = commands[COMMAND_YAW] + SUPERVISION_TRIM_R;
actuators_asctec.cmds[THRUST] = commands[COMMAND_THRUST];
Bound(actuators_asctec.cmds[PITCH],-100, 100);
Bound(actuators_asctec.cmds[ROLL], -100, 100);
Bound(actuators_asctec.cmds[YAW], -100, 100);
@@ -112,7 +112,7 @@ void actuators_set(bool_t motors_on) {
#else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */
void actuators_set(bool_t motors_on) {
if (!cpu_time_sec) return; // FIXME
supervision_run(motors_on, FALSE, booz2_commands);
supervision_run(motors_on, FALSE, commands);
#ifdef KILL_MOTORS
actuators_asctec.i2c_trans.buf[0] = 0;
actuators_asctec.i2c_trans.buf[1] = 0;
sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
+1 -1
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@@ -53,7 +53,7 @@ void actuators_init(void) { actuators_pwm_arch_init(); }
void actuators_set(bool_t motors_on) {
SetActuatorsFromCommands(booz2_commands);
SetActuatorsFromCommands(commands);
}
sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+1 -1
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@@ -66,7 +66,7 @@ void actuators_set(bool_t motors_on) {
}
#endif
supervision_run(motors_on, FALSE, booz2_commands);
supervision_run(motors_on, FALSE, commands);
for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++) {
#ifdef KILL_MOTORS
actuators_mkk.trans[i].buf[0] = 0;
sw/airborne/firmwares/rotorcraft/autopilot.c
+1 -1
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@@ -83,7 +83,7 @@ void autopilot_periodic(void) {
autopilot_mode == AP_MODE_FAILSAFE ||
#endif
autopilot_mode == AP_MODE_KILL ) {
SetCommands(booz2_commands_failsafe,
SetCommands(commands_failsafe,
autopilot_in_flight, autopilot_motors_on);
}
else {
sw/airborne/firmwares/rotorcraft/commands.c
+2 -2
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@@ -22,5 +22,5 @@
#include "firmwares/rotorcraft/commands.h"
int32_t booz2_commands[COMMANDS_NB];
const int32_t booz2_commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
int32_t commands[COMMANDS_NB];
const int32_t commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
sw/airborne/firmwares/rotorcraft/commands.h
+6 -6
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@@ -27,14 +27,14 @@
#include "paparazzi.h"
#include "generated/airframe.h"
extern int32_t booz2_commands[COMMANDS_NB];
extern const int32_t booz2_commands_failsafe[COMMANDS_NB];
extern int32_t commands[COMMANDS_NB];
extern const int32_t commands_failsafe[COMMANDS_NB];
#define SetCommands(_in_cmd, _in_flight, _motors_on) { \
booz2_commands[COMMAND_PITCH] = _in_cmd[COMMAND_PITCH]; \
booz2_commands[COMMAND_ROLL] = _in_cmd[COMMAND_ROLL]; \
booz2_commands[COMMAND_YAW] = (_in_flight) ? _in_cmd[COMMAND_YAW] : 0; \
booz2_commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \
commands[COMMAND_PITCH] = _in_cmd[COMMAND_PITCH]; \
commands[COMMAND_ROLL] = _in_cmd[COMMAND_ROLL]; \
commands[COMMAND_YAW] = (_in_flight) ? _in_cmd[COMMAND_YAW] : 0; \
commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \
}
#endif /* COMMANDS_H */
sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+4 -4
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@@ -89,10 +89,10 @@ static inline void main_periodic_task( void ) {
if (i>1000) {
/* set actuators */
booz2_commands[COMMAND_PITCH] = 0;
booz2_commands[COMMAND_ROLL] = 0;
booz2_commands[COMMAND_YAW] = 20;
booz2_commands[COMMAND_THRUST] = 0;
commands[COMMAND_PITCH] = 0;
commands[COMMAND_ROLL] = 0;
commands[COMMAND_YAW] = 20;
commands[COMMAND_THRUST] = 0;
// actuators_set(TRUE);
actuators_set(FALSE);
}
sw/airborne/test/test_actuators.c
+4 -4
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@@ -56,10 +56,10 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) {
booz2_commands[COMMAND_ROLL]=0;
booz2_commands[COMMAND_PITCH]=0;
booz2_commands[COMMAND_YAW]=0;
booz2_commands[COMMAND_THRUST]=1;
commands[COMMAND_ROLL]=0;
commands[COMMAND_PITCH]=0;
commands[COMMAND_YAW]=0;
commands[COMMAND_THRUST]=1;
actuators_set(TRUE);