diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml index b455885d32..221b1d185c 100644 --- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml +++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml @@ -14,8 +14,7 @@ - - + diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml index 06c7642f92..819220c84d 100644 --- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml +++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml @@ -15,8 +15,7 @@ - - + diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml similarity index 89% rename from conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml rename to conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml index 3e6c0b3020..e133cef851 100644 --- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml +++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml @@ -1,21 +1,32 @@ - + - + - + + + + + + - + + - diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml index 5df1e1e91b..208bf7ac60 100644 --- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml +++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml @@ -1,8 +1,14 @@ - + - + diff --git a/conf/conf.xml.example b/conf/conf.xml.example index 00c52c50b5..bdf772c3da 100644 --- a/conf/conf.xml.example +++ b/conf/conf.xml.example @@ -25,9 +25,9 @@ gui_color="white" /> 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; @@ -64,8 +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) #define THROTTLE_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9) diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h index 75f3d01953..333641ac73 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.h +++ b/sw/airborne/firmwares/fixedwing/main_fbw.h @@ -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; diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h index 2e1cdcde22..5d49a2e7ba 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot.h @@ -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; } diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h index a9ec71c3de..619391fa6b 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h @@ -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(); diff --git a/sw/airborne/modules/digital_cam/led_cam_ctrl.h b/sw/airborne/modules/digital_cam/led_cam_ctrl.h index 541b691eed..ac15e2a4c5 100644 --- a/sw/airborne/modules/digital_cam/led_cam_ctrl.h +++ b/sw/airborne/modules/digital_cam/led_cam_ctrl.h @@ -30,13 +30,13 @@ * Configuration: * Since the API of led.h is used, connected pins must be defined as led * numbers (usually in the airframe file): - * + * * * * * Related bank and pin must also be defined: - * - * + * + * * The required initialization (dc_init()) and periodic (4Hz) process * */ diff --git a/sw/airborne/modules/digital_cam/servo_cam_ctrl.h b/sw/airborne/modules/digital_cam/servo_cam_ctrl.h index fdd0820b4f..f0d0c20c83 100644 --- a/sw/airborne/modules/digital_cam/servo_cam_ctrl.h +++ b/sw/airborne/modules/digital_cam/servo_cam_ctrl.h @@ -30,13 +30,13 @@ * Configuration: * Since the API of led.h is used, connected pins must be defined as led * numbers (usually in the airframe file): - * + * * * * * Related bank and pin must also be defined: - * - * + * + * * The required initialization (dc_init()) and periodic (4Hz) process * */ diff --git a/sw/airborne/rc_settings.h b/sw/airborne/rc_settings.h index 796a881e15..ba74c806d2 100644 --- a/sw/airborne/rc_settings.h +++ b/sw/airborne/rc_settings.h @@ -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) \ diff --git a/tests/examples/01_compile_all_example_targets.t b/tests/examples/01_compile_all_example_targets.t index 18ce8f79ab..bedf3521c7 100644 --- a/tests/examples/01_compile_all_example_targets.t +++ b/tests/examples/01_compile_all_example_targets.t @@ -28,7 +28,7 @@ foreach my $example (sort keys%{$examples->{'aircraft'}}) next unless scalar $airframe_config->{'firmware'}->{$process}->{'target'}->{$target}->{'board'}; # Exclude some builds on Mac as they are currently broken. - next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1|LisaLv11_Aspirinv15_Overo_RC|Quad_LisaM|Booz2#i) and ($target =~ m#nps#i) ); + next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LisaLv11_Booz2v12_RC|LisaLv11_Aspirinv15_Overo_RC|Quad_LisaM_2|BOOZ2#i) and ($target =~ m#nps#i) ); #warn "EXAMPLE: [$example] TARGET: [$target]\n"; my $make_options = "AIRCRAFT=$example clean_ac $target.compile"; @@ -48,7 +48,7 @@ foreach my $example (sort keys%{$examples->{'aircraft'}}) next unless scalar $airframe_config->{'firmware'}->{$process}->{$target}->{'board'}; # Exclude some builds on Mac as they are currently broken. - next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LISA_ASCTEC_PIOTR|LisaLv11_Booz2v12_RC|BOOZ2_A1|LisaLv11_Aspirinv15_Overo_RC|Quad_LisaM|Booz2#i) and ($target =~ m#nps#i) ); + next if ( ($Config{'osname'} =~ m#darwin#i) and ($example =~ m#LisaLv11_Booz2v12_RC|LisaLv11_Aspirinv15_Overo_RC|Quad_LisaM_2|BOOZ2#i) and ($target =~ m#nps#i) ); #warn "EXAMPLET: [$example] TARGET: [$target]\n"; my $make_options = "AIRCRAFT=$example clean_ac $target.compile";