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Merge branch 'CHIMU' of github.com:paparazzi/paparazzi into dev

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This commit is contained in:
Christophe De Wagter
2011-04-15 16:12:44 +02:00
parent 2b55a3149f 8188c8ad89
commit 7e67bffb01
2 changed files with 7 additions and 5 deletions
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conf/airframes/CDW/ChimuTinyFwSpi.xml
+6 -5
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@@ -7,11 +7,11 @@
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="8" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="9" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="4" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="5" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
@@ -168,6 +168,7 @@
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="NB_CHANNELS" value="5" />
</target>
<target name="sim" board="pc"/>
sw/airborne/math/pprz_algebra_int.h
+1
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@@ -182,6 +182,7 @@ struct Int64Vect3 {
};
// Real (floating point) -> Binary Fixed Point (int)
#define BFP_OF_REAL(_vr, _frac) ((_vr)*(1<<(_frac)))
#define FLOAT_OF_BFP(_vbfp, _frac) ((float)(_vbfp)/(1<<(_frac)))
#define RATE_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_RATE_FRAC)