From 72f0a004389db2cba4b902cdd6923e4df7650f1a Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Fri, 16 Dec 2016 16:00:42 +0100 Subject: [PATCH] [fixewing] remove DownlinkSendWp --- conf/conf_example.xml | 2 +- sw/airborne/firmwares/fixedwing/nav.c | 8 ++++++++ sw/airborne/firmwares/fixedwing/nav.h | 5 ----- sw/airborne/modules/enose/anemotaxis.c | 10 +++++----- sw/airborne/modules/enose/chemotaxis.c | 4 ++-- sw/airborne/modules/nav/nav_catapult.c | 2 +- 6 files changed, 17 insertions(+), 14 deletions(-) diff --git a/conf/conf_example.xml b/conf/conf_example.xml index 047afc7508..6456e43dfd 100644 --- a/conf/conf_example.xml +++ b/conf/conf_example.xml @@ -29,7 +29,7 @@ telemetry="telemetry/default_fixedwing_imu.xml" flight_plan="flight_plans/versatile.xml" settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml" - settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml" + settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml" gui_color="blue" /> = nb_waypoint) return; DownlinkSendWp(&(DefaultChannel).trans_tx, &(DefaultDevice).device, _wp); } diff --git a/sw/airborne/firmwares/fixedwing/nav.h b/sw/airborne/firmwares/fixedwing/nav.h index 49d930d854..cb2effb41e 100644 --- a/sw/airborne/firmwares/fixedwing/nav.h +++ b/sw/airborne/firmwares/fixedwing/nav.h @@ -244,11 +244,6 @@ bool nav_approaching_xy(float x, float y, float from_x, float from_y, float appr extern void DownlinkSendWpNr(uint8_t _wp); -#define DownlinkSendWp(_trans, _dev, i) { \ - float x = nav_utm_east0 + waypoints[i].x; \ - float y = nav_utm_north0 + waypoints[i].y; \ - pprz_msg_send_WP_MOVED(_trans, _dev, AC_ID, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \ - } #endif /* DOWNLINK */ #endif /* NAV_H */ diff --git a/sw/airborne/modules/enose/anemotaxis.c b/sw/airborne/modules/enose/anemotaxis.c index d62b518194..bbcab961ca 100644 --- a/sw/airborne/modules/enose/anemotaxis.c +++ b/sw/airborne/modules/enose/anemotaxis.c @@ -45,7 +45,7 @@ bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) last_plume_was_here(); waypoints[plume].x = stateGetPositionEnu_f()->x; waypoints[plume].y = stateGetPositionEnu_f()->y; - // DownlinkSendWp(plume); + // DownlinkSendWpNr(plume); } struct FloatVect2 *wind = stateGetHorizontalWindspeed_f(); @@ -70,8 +70,8 @@ bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) waypoints[c2].x = waypoints[c1].x - width * crosswind_x * sign; waypoints[c2].y = waypoints[c1].y - width * crosswind_y * sign; - // DownlinkSendWp(c1); - // DownlinkSendWp(c2); + // DownlinkSendWpNr(c1); + // DownlinkSendWpNr(c2); status = CROSSWIND; nav_init_stage(); @@ -84,7 +84,7 @@ bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) waypoints[c].x = waypoints[c2].x + DEFAULT_CIRCLE_RADIUS * upwind_x; waypoints[c].y = waypoints[c2].y + DEFAULT_CIRCLE_RADIUS * upwind_y; - // DownlinkSendWp(c); + // DownlinkSendWpNr(c); sign = -sign; status = UTURN; @@ -95,7 +95,7 @@ bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) waypoints[c].x = stateGetPositionEnu_f()->x + DEFAULT_CIRCLE_RADIUS * upwind_x; waypoints[c].y = stateGetPositionEnu_f()->y + DEFAULT_CIRCLE_RADIUS * upwind_y; - // DownlinkSendWp(c); + // DownlinkSendWpNr(c); sign = -sign; status = UTURN; diff --git a/sw/airborne/modules/enose/chemotaxis.c b/sw/airborne/modules/enose/chemotaxis.c index 88f83c09dd..4e2a0b9f85 100644 --- a/sw/airborne/modules/enose/chemotaxis.c +++ b/sw/airborne/modules/enose/chemotaxis.c @@ -34,7 +34,7 @@ bool nav_chemotaxis(uint8_t c, uint8_t plume) float y = stateGetPositionEnu_f()->y - waypoints[plume].y; waypoints[c].x = waypoints[plume].x + ALPHA * x; waypoints[c].y = waypoints[plume].y + ALPHA * y; - // DownlinkSendWp(c); + // DownlinkSendWpNr(c); /* Turn in the right direction */ float dir_x = cos(M_PI_2 - stateGetHorizontalSpeedDir_f()); float dir_y = sin(M_PI_2 - stateGetHorizontalSpeedDir_f()); @@ -48,7 +48,7 @@ bool nav_chemotaxis(uint8_t c, uint8_t plume) /* Store this plume */ waypoints[plume].x = stateGetPositionEnu_f()->x; waypoints[plume].y = stateGetPositionEnu_f()->y; - // DownlinkSendWp(plume); + // DownlinkSendWpNr(plume); last_plume_value = chemo_sensor; } diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c index d91381f0d0..76e5ea098d 100644 --- a/sw/airborne/modules/nav/nav_catapult.c +++ b/sw/airborne/modules/nav/nav_catapult.c @@ -193,7 +193,7 @@ bool nav_catapult_run(uint8_t _climb) float dir_L = sqrtf(dir_x * dir_x + dir_y * dir_y); WaypointX(_climb) = nav_catapult.pos.x + (dir_x / dir_L) * NAV_CATAPULT_CLIMB_DISTANCE; WaypointY(_climb) = nav_catapult.pos.y + (dir_y / dir_L) * NAV_CATAPULT_CLIMB_DISTANCE; - DownlinkSendWp(&(DefaultChannel).trans_tx, &(DefaultDevice).device, _climb); + DownlinkSendWpNr(_climb); // next step nav_catapult.status = NAV_CATAPULT_MOTOR_CLIMB; }