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[rotorcraft] fix STAB_ATTITUDE telemetry

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This commit is contained in:
Felix Ruess
2013-05-03 00:20:35 +02:00
parent 8d2781e256
commit 572ba12930
2 changed files with 36 additions and 35 deletions
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conf/firmwares/subsystems/rotorcraft/stabilization_passthrough.makefile
+1
View File
@@ -1,3 +1,4 @@
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_NO_REF
STAB_ATT_CFLAGS = -DSTABILIZATION_ATTITUDE_TYPE_INT
STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_passthrough.h\"
STAB_ATT_SRCS = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_passthrough.c
sw/airborne/firmwares/rotorcraft/telemetry.h
+35 -35
View File
@@ -223,8 +223,13 @@
&stabilization_cmd[COMMAND_THRUST]); \
}
#ifdef STABILIZATION_ATTITUDE_REF_TYPE_H
#ifdef STABILIZATION_ATTITUDE_TYPE_INT
#ifdef STABILIZATION_ATTITUDE_NO_REF
#define PERIODIC_SEND_STAB_ATTITUDE(_trans, _dev) {}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) {}
#elif defined STABILIZATION_ATTITUDE_TYPE_INT
#define PERIODIC_SEND_STAB_ATTITUDE(_trans, _dev) { \
struct Int32Rates* body_rate = stateGetBodyRates_i(); \
struct Int32Eulers* att = stateGetNedToBodyEulers_i(); \
@@ -248,21 +253,20 @@
&stabilization_cmd[COMMAND_YAW]); \
}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_INT(_trans, _dev, \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stab_att_ref_rate.p, \
&stab_att_ref_rate.q, \
&stab_att_ref_rate.r, \
&stab_att_ref_accel.p, \
&stab_att_ref_accel.q, \
&stab_att_ref_accel.r); \
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_INT(_trans, _dev, \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stab_att_ref_rate.p, \
&stab_att_ref_rate.q, \
&stab_att_ref_rate.r, \
&stab_att_ref_accel.p, \
&stab_att_ref_accel.q, \
&stab_att_ref_accel.r); \
}
#elif defined STABILIZATION_ATTITUDE_TYPE_FLOAT
@@ -292,27 +296,23 @@
&foo, &foo, &foo); \
}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_FLOAT(_trans, _dev, \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stab_att_ref_rate.p, \
&stab_att_ref_rate.q, \
&stab_att_ref_rate.r, \
&stab_att_ref_accel.p, \
&stab_att_ref_accel.q, \
&stab_att_ref_accel.r); \
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) { \
DOWNLINK_SEND_STAB_ATTITUDE_REF_FLOAT(_trans, _dev, \
&stab_att_sp_euler.phi, \
&stab_att_sp_euler.theta, \
&stab_att_sp_euler.psi, \
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stab_att_ref_rate.p, \
&stab_att_ref_rate.q, \
&stab_att_ref_rate.r, \
&stab_att_ref_accel.p, \
&stab_att_ref_accel.q, \
&stab_att_ref_accel.r); \
}
#endif /* STABILIZATION_ATTITUDE_TYPE_FLOAT */
#else /* STABILIZATION_ATTITUDE_REF_TYPE_H */
#define PERIODIC_SEND_STAB_ATTITUDE(_trans, _dev) {}
#define PERIODIC_SEND_STAB_ATTITUDE_REF(_trans, _dev) {}
#endif
#include "subsystems/ahrs/ahrs_aligner.h"