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rename BOOZ_FAILSAFE_GROUND_DETECT to FAILSAFE_GROUND_DETECT

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This commit is contained in:
Felix Ruess
2010-09-27 22:55:20 +00:00
parent cda4588534
commit 451e983c97
12 changed files with 47 additions and 47 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -220,7 +220,7 @@ FLASH_MODE=IAP
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\" sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION sim.CFLAGS += -DNPS_NO_SUPERVISION
conf/airframes/ENAC/quadrotor/mini.xml
+1 -1
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@@ -8,7 +8,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="booz_1.0"> <target name="ap" board="booz_1.0">
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
conf/airframes/ENAC/quadrotor/mkk1.xml
+1 -1
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@@ -231,7 +231,7 @@ FLASH_MODE=IAP
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
ap.CFLAGS += -DMODEM_BAUD=B57600 ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+2 -2
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@@ -278,7 +278,7 @@ second attempt
<define name="GPS_LAG" value = "0.8"/> <define name="GPS_LAG" value = "0.8"/>
<define name="BOOZ_START_DELAY" value = "3"/> <define name="BOOZ_START_DELAY" value = "3"/>
<!-- <define name="KILL_MOTORS"/> --> <!-- <define name="KILL_MOTORS"/> -->
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" /> <define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/> <define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/> <define name="USE_ADAPT_HOVER"/>
@@ -340,7 +340,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#stuff from nova below #stuff from nova below
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter #set GPS lag for horizontal filter
conf/airframes/UofAdelaide/A1000_NOVA.xml
+2 -2
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@@ -238,7 +238,7 @@
<define name="BOOZ_START_DELAY" value = "3"/> <define name="BOOZ_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/> <define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> --> <!-- <define name="KILL_MOTORS"/> -->
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" /> <define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/> <define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/> <define name="USE_ADAPT_HOVER"/>
@@ -276,7 +276,7 @@ ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
# radio killswitch # radio killswitch
ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1 ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+24 -24
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@@ -70,18 +70,18 @@
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_"> <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints --> <!-- setpoints -->
<define name="SP_MAX_P" value="10000" /> <define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" /> <define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" /> <define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" /> <define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" /> <define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" /> <define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" /> <define name="REF_TAU" value="4" />
<!-- feedback --> <!-- feedback -->
<define name="GAIN_P" value="-400" /> <define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" /> <define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" /> <define name="GAIN_R" value="-350" />
<define name="IGAIN_P" value="-75" /> <define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" /> <define name="IGAIN_Q" value="-75" />
@@ -91,7 +91,7 @@
<define name="DDGAIN_P" value="300" /> <define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" /> <define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" /> <define name="DDGAIN_R" value="300" />
</section> </section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_"> <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
@@ -152,23 +152,23 @@
</section> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" /> <define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" /> <define name="MAX_MOTOR" value="210" />
<define name="TRIM_A" value="0" /> <define name="TRIM_A" value="0" />
<define name="TRIM_E" value="0" /> <define name="TRIM_E" value="0" />
<define name="TRIM_R" value="0" /> <define name="TRIM_R" value="0" />
<define name="NB_MOTOR" value="4" /> <define name="NB_MOTOR" value="4" />
<define name="SCALE" value="256"/> <define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}" /> <define name="ROLL_COEF" value="{ 0, 0, -256, 256}" />
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}" /> <define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
<define name="YAW_COEF" value="{ 256, 256, -256, -256}" /> <define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section> </section>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4" /> <define name="NB" value="4" />
<define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" /> <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
</section> </section>
<section name="INS" prefix="BOOZ_INS_"> <section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="14.9" integer="16"/> <define name="BARO_SENS" value="14.9" integer="16"/>
@@ -232,7 +232,7 @@ ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
# radio killswitch # radio killswitch
ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1 ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
@@ -249,7 +249,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter #set GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8 ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R #-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
conf/airframes/UofAdelaide/booz2_a1000.xml
+1 -1
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@@ -301,7 +301,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#stuff from nova below #stuff from nova below
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter #set GPS lag for horizontal filter
conf/airframes/booz2_NoVa.xml
+1 -1
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@@ -231,7 +231,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
#ap.CFLAGS += -DMODEM_BAUD=B38400 #ap.CFLAGS += -DMODEM_BAUD=B38400
ap.CFLAGS += -DMODEM_BAUD=B57600 ap.CFLAGS += -DMODEM_BAUD=B57600
conf/airframes/booz2_NoVa_001.xml
+1 -1
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@@ -232,7 +232,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
ap.CFLAGS += -DMODEM_BAUD=B57600 ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
conf/airframes/booz2_NoVa_002.xml
+1 -1
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@@ -232,7 +232,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile include $(CFG_BOOZ)/booz2_test_progs.makefile
#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
#ap.CFLAGS += -DMODEM_BAUD=B38400 #ap.CFLAGS += -DMODEM_BAUD=B38400
ap.CFLAGS += -DMODEM_BAUD=B57600 ap.CFLAGS += -DMODEM_BAUD=B57600
sw/airborne/firmwares/rotorcraft/autopilot.c
+11 -11
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@@ -31,19 +31,19 @@
#include "booz_stabilization.h" #include "booz_stabilization.h"
#include "led.h" #include "led.h"
uint8_t autopilot_mode; uint8_t autopilot_mode;
uint8_t autopilot_mode_auto2; uint8_t autopilot_mode_auto2;
bool_t autopilot_motors_on; bool_t autopilot_motors_on;
bool_t autopilot_in_flight; bool_t autopilot_in_flight;
uint32_t autopilot_motors_on_counter; uint32_t autopilot_motors_on_counter;
uint32_t autopilot_in_flight_counter; uint32_t autopilot_in_flight_counter;
bool_t kill_throttle; bool_t kill_throttle;
bool_t autopilot_rc; bool_t autopilot_rc;
bool_t autopilot_power_switch; bool_t autopilot_power_switch;
bool_t autopilot_detect_ground; bool_t autopilot_detect_ground;
bool_t autopilot_detect_ground_once; bool_t autopilot_detect_ground_once;
uint16_t autopilot_flight_time; uint16_t autopilot_flight_time;
@@ -72,14 +72,14 @@ void autopilot_init(void) {
void autopilot_periodic(void) { void autopilot_periodic(void) {
RunOnceEvery(BOOZ2_NAV_PRESCALER, nav_periodic_task()); RunOnceEvery(BOOZ2_NAV_PRESCALER, nav_periodic_task());
#ifdef BOOZ_FAILSAFE_GROUND_DETECT #ifdef FAILSAFE_GROUND_DETECT
if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && autopilot_detect_ground) { if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && autopilot_detect_ground) {
autopilot_set_mode(BOOZ2_AP_MODE_KILL); autopilot_set_mode(BOOZ2_AP_MODE_KILL);
autopilot_detect_ground = FALSE; autopilot_detect_ground = FALSE;
} }
#endif #endif
if ( !autopilot_motors_on || if ( !autopilot_motors_on ||
#ifndef BOOZ_FAILSAFE_GROUND_DETECT #ifndef FAILSAFE_GROUND_DETECT
autopilot_mode == BOOZ2_AP_MODE_FAILSAFE || autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
#endif #endif
autopilot_mode == BOOZ2_AP_MODE_KILL ) { autopilot_mode == BOOZ2_AP_MODE_KILL ) {
sw/airborne/firmwares/rotorcraft/main.c
+1 -1
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@@ -207,7 +207,7 @@ STATIC_INLINE void booz2_main_event( void ) {
BoozGpsEvent(on_gps_event); BoozGpsEvent(on_gps_event);
#endif #endif
#ifdef BOOZ_FAILSAFE_GROUND_DETECT #ifdef FAILSAFE_GROUND_DETECT
BoozDetectGroundEvent(); BoozDetectGroundEvent();
#endif #endif