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[airborne] fix typo: THRESHOLD and not TRESHOLD

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This commit is contained in:
Felix Ruess
2012-06-14 23:47:21 +02:00
parent ae9281ee3e
commit 912b9d489b
5 changed files with 32 additions and 34 deletions
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sw/airborne/firmwares/fixedwing/autopilot.h
+6 -6
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@@ -35,10 +35,10 @@
#include "mcu_periph/sys_time.h"
#include "estimator.h"
#define TRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
#define THRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
#define TRESHOLD1 TRESHOLD_MANUAL_PPRZ
#define TRESHOLD2 (MAX_PPRZ/2)
#define THRESHOLD1 THRESHOLD_MANUAL_PPRZ
#define THRESHOLD2 (MAX_PPRZ/2)
#define PPRZ_MODE_MANUAL 0
@@ -49,8 +49,8 @@
#define PPRZ_MODE_NB 5
#define PPRZ_MODE_OF_PULSE(pprz) \
(pprz > TRESHOLD2 ? PPRZ_MODE_AUTO2 : \
(pprz > TRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
(pprz > THRESHOLD2 ? PPRZ_MODE_AUTO2 : \
(pprz > THRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
extern uint8_t pprz_mode;
extern bool_t kill_throttle;
@@ -64,7 +64,7 @@ extern bool_t kill_throttle;
#define LATERAL_MODE_NB 4
extern uint8_t lateral_mode;
#define STICK_PUSHED(pprz) (pprz < TRESHOLD1 || pprz > TRESHOLD2)
#define STICK_PUSHED(pprz) (pprz < THRESHOLD1 || pprz > THRESHOLD2)
#define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)
sw/airborne/firmwares/fixedwing/main_fbw.h
+3 -5
View File
@@ -1,6 +1,4 @@
/*
* Paparazzi $Id$
*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -22,8 +20,8 @@
*
*/
/** \file main_fbw.h
* \brief FBW ( FlyByWire ) process API
/** @file main_fbw.h
* @brief FBW ( FlyByWire ) process API
*
*/
@@ -36,7 +34,7 @@
#define FBW_MODE_MANUAL 0
#define FBW_MODE_AUTO 1
#define FBW_MODE_FAILSAFE 2
#define FBW_MODE_OF_PPRZ(mode) ((mode) < TRESHOLD_MANUAL_PPRZ ? FBW_MODE_MANUAL : FBW_MODE_AUTO)
#define FBW_MODE_OF_PPRZ(mode) ((mode) < THRESHOLD_MANUAL_PPRZ ? FBW_MODE_MANUAL : FBW_MODE_AUTO)
extern uint8_t fbw_mode;
extern bool_t failsafe_mode;
sw/airborne/firmwares/rotorcraft/autopilot.h
+8 -8
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@@ -78,13 +78,13 @@ extern uint16_t autopilot_flight_time;
#endif
#define TRESHOLD_1_PPRZ (MIN_PPRZ / 2)
#define TRESHOLD_2_PPRZ (MAX_PPRZ / 2)
#define THRESHOLD_1_PPRZ (MIN_PPRZ / 2)
#define THRESHOLD_2_PPRZ (MAX_PPRZ / 2)
#define AP_MODE_OF_PPRZ(_rc, _mode) { \
if (_rc > TRESHOLD_2_PPRZ) \
if (_rc > THRESHOLD_2_PPRZ) \
_mode = autopilot_mode_auto2; \
else if (_rc > TRESHOLD_1_PPRZ) \
else if (_rc > THRESHOLD_1_PPRZ) \
_mode = MODE_AUTO1; \
else \
_mode = MODE_MANUAL; \
@@ -106,13 +106,13 @@ extern uint16_t autopilot_flight_time;
}
#endif
#ifndef TRESHOLD_GROUND_DETECT
#define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
#ifndef THRESHOLD_GROUND_DETECT
#define THRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
#endif
static inline void DetectGroundEvent(void) {
if (autopilot_mode == AP_MODE_FAILSAFE || autopilot_detect_ground_once) {
if (ins_ltp_accel.z < -TRESHOLD_GROUND_DETECT ||
ins_ltp_accel.z > TRESHOLD_GROUND_DETECT) {
if (ins_ltp_accel.z < -THRESHOLD_GROUND_DETECT ||
ins_ltp_accel.z > THRESHOLD_GROUND_DETECT) {
autopilot_detect_ground = TRUE;
autopilot_detect_ground_once = FALSE;
}
sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
+13 -13
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@@ -24,26 +24,26 @@
#include "subsystems/radio_control.h"
#define AUTOPILOT_THROTTLE_TRESHOLD (MAX_PPRZ / 20)
#define AUTOPILOT_YAW_TRESHOLD (MAX_PPRZ * 19 / 20)
#ifndef AUTOPILOT_STICK_CENTER_TRESHOLD
#define AUTOPILOT_STICK_CENTER_TRESHOLD (MAX_PPRZ * 1 / 20)
#define AUTOPILOT_THROTTLE_THRESHOLD (MAX_PPRZ / 20)
#define AUTOPILOT_YAW_THRESHOLD (MAX_PPRZ * 19 / 20)
#ifndef AUTOPILOT_STICK_CENTER_THRESHOLD
#define AUTOPILOT_STICK_CENTER_THRESHOLD (MAX_PPRZ * 1 / 20)
#endif
#define THROTTLE_STICK_DOWN() \
(radio_control.values[RADIO_THROTTLE] < AUTOPILOT_THROTTLE_TRESHOLD)
(radio_control.values[RADIO_THROTTLE] < AUTOPILOT_THROTTLE_THRESHOLD)
#define YAW_STICK_PUSHED() \
(radio_control.values[RADIO_YAW] > AUTOPILOT_YAW_TRESHOLD || \
radio_control.values[RADIO_YAW] < -AUTOPILOT_YAW_TRESHOLD)
(radio_control.values[RADIO_YAW] > AUTOPILOT_YAW_THRESHOLD || \
radio_control.values[RADIO_YAW] < -AUTOPILOT_YAW_THRESHOLD)
#define YAW_STICK_CENTERED() \
(radio_control.values[RADIO_YAW] < AUTOPILOT_STICK_CENTER_TRESHOLD && \
radio_control.values[RADIO_YAW] > -AUTOPILOT_STICK_CENTER_TRESHOLD)
(radio_control.values[RADIO_YAW] < AUTOPILOT_STICK_CENTER_THRESHOLD && \
radio_control.values[RADIO_YAW] > -AUTOPILOT_STICK_CENTER_THRESHOLD)
#define PITCH_STICK_CENTERED() \
(radio_control.values[RADIO_PITCH] < AUTOPILOT_STICK_CENTER_TRESHOLD && \
radio_control.values[RADIO_PITCH] > -AUTOPILOT_STICK_CENTER_TRESHOLD)
(radio_control.values[RADIO_PITCH] < AUTOPILOT_STICK_CENTER_THRESHOLD && \
radio_control.values[RADIO_PITCH] > -AUTOPILOT_STICK_CENTER_THRESHOLD)
#define ROLL_STICK_CENTERED() \
(radio_control.values[RADIO_ROLL] < AUTOPILOT_STICK_CENTER_TRESHOLD && \
radio_control.values[RADIO_ROLL] > -AUTOPILOT_STICK_CENTER_TRESHOLD)
(radio_control.values[RADIO_ROLL] < AUTOPILOT_STICK_CENTER_THRESHOLD && \
radio_control.values[RADIO_ROLL] > -AUTOPILOT_STICK_CENTER_THRESHOLD)
static inline bool_t rc_attitude_sticks_centered(void) {
return ROLL_STICK_CENTERED() && PITCH_STICK_CENTERED() && YAW_STICK_CENTERED();
sw/airborne/rc_settings.h
+2 -2
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@@ -59,8 +59,8 @@ void rc_settings(bool_t mode_changed);
#define RcSettingsOff() (rc_settings_mode==RC_SETTINGS_MODE_NONE)
#define RC_SETTINGS_MODE_OF_PULSE(pprz) (pprz < TRESHOLD1 ? RC_SETTINGS_MODE_DOWN : \
(pprz < TRESHOLD2 ? RC_SETTINGS_MODE_NONE : \
#define RC_SETTINGS_MODE_OF_PULSE(pprz) (pprz < THRESHOLD1 ? RC_SETTINGS_MODE_DOWN : \
(pprz < THRESHOLD2 ? RC_SETTINGS_MODE_NONE : \
RC_SETTINGS_MODE_UP))
#define RcSettingsModeUpdate(_rc_channels) \