From 4f13ae13a9b88bb5beb48803a74c8e78ca32714e Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Tue, 24 Aug 2010 12:19:28 +0000
Subject: [PATCH] now commiting an airframe that works

---
 conf/airframes/UofAdelaide/A1000_LISA.xml     | 34 ++++++-------------
 .../booz/actuators/booz_actuators_heli.c      |  7 ++--
 2 files changed, 12 insertions(+), 29 deletions(-)

diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index 2e23899f11..54a5ea580a 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -2,12 +2,12 @@
 
 <airframe name="A1000 LISA">
 
-  <servos min="0" neutral="0" max="0xff">
-    <servo name="FRONT"        no="0" min="0" neutral="0" max="255"/>
-    <servo name="BACK"         no="1" min="0" neutral="0" max="255"/>
-    <servo name="LEFT"         no="2" min="0" neutral="0" max="255"/>
-    <servo name="RIGHT"        no="3" min="0" neutral="0" max="255"/>
-    <servo name="ESC"          no="4" min="0" neutral="0" max="255"/>
+  <servos>
+    <servo name="FRONT"  no="0" min="1000" neutral="1500" max="2000"/>
+    <servo name="BACK"   no="1" min="1000" neutral="1500" max="2000"/>
+    <servo name="LEFT"   no="2" min="1000" neutral="1500" max="2000"/>
+    <servo name="RIGHT"  no="3" min="1000" neutral="1500" max="2000"/>
+    <servo name="ESC"    no="4" min="1000" neutral="1000" max="2000"/>
   </servos>
 
   <commands>
@@ -19,26 +19,12 @@
 
   <command_laws>
     <set servo="ESC"        value="motors_on?ESC_HOVER:ESC_STOPPED"/>
-    <set servo="FRONT"      value=" @PITCH$ + @YAW + @THRUST"/>
-    <set servo="BACK"       value="-@PITCH$ + @YAW + @THRUST"/>
-    <set servo="LEFT"       value=" @ROLL   - @YAW + @THRUST"/>
-    <set servo="RIGHT"      value="-@ROLL   - @YAW + @THRUST"/>
+    <set servo="FRONT"      value=" @PITCH + @YAW + @THRUST"/>
+    <set servo="BACK"       value="-@PITCH + @YAW + @THRUST"/>
+    <set servo="LEFT"       value=" @ROLL  - @YAW + @THRUST"/>
+    <set servo="RIGHT"      value="-@ROLL  - @YAW + @THRUST"/>
   </command_laws>
 
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="3"/>
-    <define name="MAX_MOTOR" value="200"/>
-    <define name="TRIM_A" value="0"/>
-    <define name="TRIM_E" value="0"/>
-    <define name="TRIM_R" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF"   value="{  0  ,    0,  256, -256 }"/>
-    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
-    <define name="YAW_COEF"    value="{  256,  256, -256, -256 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
   <section name="IMU" prefix="IMU_">
 
     <define name="GYRO_P_NEUTRAL" value="32858"/>
diff --git a/sw/airborne/booz/actuators/booz_actuators_heli.c b/sw/airborne/booz/actuators/booz_actuators_heli.c
index e4c01834df..c58e7cf29e 100644
--- a/sw/airborne/booz/actuators/booz_actuators_heli.c
+++ b/sw/airborne/booz/actuators/booz_actuators_heli.c
@@ -38,15 +38,12 @@
 #define ESC_HOVER   SERVOS_TICS_OF_USEC(1750) 
 #define Actuator(_x)  booz_actuators_pwm_values[_x]
 #define ChopServo(x,a,b) Chop(x, a, b)
-#define ActuatorsCommit()  booz_actuators_pwm_commit()
+#define ActuatorsCommit  booz_actuators_pwm_commit
 
 int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
 
-void actuators_init(void) {
+void actuators_init(void) { booz_actuators_pwm_arch_init(); }
 
-  booz_actuators_pwm_arch_init();
-  
-}
 
 void actuators_set(bool_t motors_on) {