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added rc_status

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This commit is contained in:
Antoine Drouin
2010-08-14 01:36:10 +00:00
parent 04c068071d
commit 61b49310ce
3 changed files with 5 additions and 8 deletions
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sw/airborne/fms/overo_test_passthrough.c
+2 -7
View File
@@ -100,16 +100,9 @@ static void dialog_with_io_proc() {
struct AutopilotMessageCRCFrame msg_out;
uint8_t crc_valid;
#if 0
uint16_t val = 1500 + 500*sin(foo*0.001);
msg_out.payload.msg_down.pwm_outputs_usecs[0] = val;
msg_out.payload.msg_down.pwm_outputs_usecs[1] = val;
msg_out.payload.msg_down.pwm_outputs_usecs[2] = val;
#endif
for (uint8_t i=0; i<6; i++) msg_out.payload.msg_down.pwm_outputs_usecs[i] = otp.servos_outputs_usecs[i];
spi_link_send(&msg_out, sizeof(struct AutopilotMessageCRCFrame), &msg_in, &crc_valid);
struct AutopilotMessagePTUp *in = &msg_in.payload.msg_up;
RATES_FLOAT_OF_BFP(otp.imu.gyro, in->gyro);
@@ -119,6 +112,8 @@ static void dialog_with_io_proc() {
otp.io_proc_msg_cnt = in->stm_msg_cnt;
otp.io_proc_err_cnt = in->stm_crc_err_cnt;
otp.rc_status = in->rc_status;
}
sw/airborne/fms/overo_test_passthrough.h
+1
View File
@@ -9,6 +9,7 @@ struct OveroTestPassthrough {
uint32_t io_proc_msg_cnt;
uint32_t io_proc_err_cnt;
uint16_t servos_outputs_usecs[6]; /* FIXME */
uint8_t rc_status;
};
extern struct OveroTestPassthrough otp;
sw/airborne/fms/overo_test_passthrough_telemetry.h
+2 -1
View File
@@ -11,7 +11,8 @@
&otp.io_proc_msg_cnt, \
&otp.io_proc_err_cnt, \
&spi_link.msg_cnt, \
&spi_link.crc_err_cnt)
&spi_link.crc_err_cnt, \
&otp.rc_status)
#define PERIODIC_SEND_IMU_GYRO(_transport) \