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made RADIO_CONTROL_KILL_SWITCH optional

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This commit is contained in:
Antoine Drouin
2010-06-21 23:24:18 +00:00
parent b084f8b39d
commit 48d2c05fd0
1 changed files with 18 additions and 23 deletions
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sw/airborne/booz/booz2_telemetry.h
+18 -23
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@@ -96,29 +96,24 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
#ifdef USE_RADIO_CONTROL
#define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, RADIO_CONTROL_NB_CHANNEL, radio_control.values)
#ifdef RADIO_CONTROL_KILL_SWITCH
#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) { \
DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan, \
&radio_control.values[RADIO_CONTROL_ROLL], \
&radio_control.values[RADIO_CONTROL_PITCH], \
&radio_control.values[RADIO_CONTROL_YAW], \
&radio_control.values[RADIO_CONTROL_THROTTLE], \
&radio_control.values[RADIO_CONTROL_MODE], \
&radio_control.values[RADIO_CONTROL_KILL_SWITCH], \
&radio_control.status);}
#else //RADIO_CONTROL_KILL_SWITCH not defined
#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) { \
int16_t foo = 0; \
DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan, \
&radio_control.values[RADIO_CONTROL_ROLL], \
&radio_control.values[RADIO_CONTROL_PITCH], \
&radio_control.values[RADIO_CONTROL_YAW], \
&radio_control.values[RADIO_CONTROL_THROTTLE], \
&radio_control.values[RADIO_CONTROL_MODE], \
&foo, \
&radio_control.status);}
#endif //RADIO_CONTROL_KILL_SWITCH
#else
#if defined RADIO_CONTROL_KILL_SWITCH
#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) SEND_BOOZ2_RADIO_CONTROL( _chan, &radio_control.values[RADIO_CONTROL_KILL_SWITCH])
#else /* ! RADIO_CONTROL_KILL_SWITCH */
#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) { \
int16_t foo = -42; \
SEND_BOOZ2_RADIO_CONTROL( _chan, &foo) \
}
#endif /* !RADIO_CONTROL_KILL_SWITCH */
#define SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) { \
DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan, \
&radio_control.values[RADIO_CONTROL_ROLL], \
&radio_control.values[RADIO_CONTROL_PITCH], \
&radio_control.values[RADIO_CONTROL_YAW], \
&radio_control.values[RADIO_CONTROL_THROTTLE], \
&radio_control.values[RADIO_CONTROL_MODE], \
_kill_switch, \
&radio_control.status);}
#else /* ! USE_RADIO_CONTROL */
#define PERIODIC_SEND_RC(_chan) {}
#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {}
#endif