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cam control initial mode and commenting in chimu

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This commit is contained in:
Christophe De Wagter
2011-07-06 09:52:54 +02:00
parent 4f346b4ba7
commit 70d9e97ff9
2 changed files with 12 additions and 2 deletions
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conf/modules/ins_chimu_uart.xml
+6
View File
@@ -1,5 +1,11 @@
<!DOCTYPE module SYSTEM "module.dtd"> <!DOCTYPE module SYSTEM "module.dtd">
<!--
For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
-->
<module name="ins"> <module name="ins">
<!-- <depend conflict="ins" --> <!-- <depend conflict="ins" -->
<header> <header>
sw/airborne/modules/cam_control/cam.c
+6 -2
View File
@@ -56,7 +56,7 @@ float test_cam_estimator_hspeed_dir;
#endif #endif
#ifdef CAM_TILT_NEUTRAL #ifdef CAM_TILT_NEUTRAL
#if (CAM_TILT_MAX == CAM_TILT_NEUTRAL) #if ((CAM_TILT_MAX) == (CAM_TILT_NEUTRAL))
#error CAM_TILT_MAX has to be different from CAM_TILT_NEUTRAL #error CAM_TILT_MAX has to be different from CAM_TILT_NEUTRAL
#endif #endif
#if (CAM_TILT_NEUTRAL == CAM_TILT_MIN) #if (CAM_TILT_NEUTRAL == CAM_TILT_MIN)
@@ -98,7 +98,11 @@ void cam_waypoint_target(void);
void cam_ac_target(void); void cam_ac_target(void);
void cam_init( void ) { void cam_init( void ) {
#ifdef CAM_MODE0
cam_mode = CAM_MODE0;
#else
cam_mode = CAM_MODE_OFF; cam_mode = CAM_MODE_OFF;
#endif
} }
void cam_periodic( void ) { void cam_periodic( void ) {
@@ -183,7 +187,7 @@ void cam_nadir( void ) {
cam_target_x = estimator_x; cam_target_x = estimator_x;
cam_target_y = estimator_y; cam_target_y = estimator_y;
#endif #endif
cam_target_alt = 0; cam_target_alt = -10;
cam_target(); cam_target();
} }