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[autopilot] make SetRotorcraftCommand a weak function so it can be redefined

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This commit is contained in:
Gautier Hattenberger
2017-02-22 18:47:31 +01:00
parent 6da5030572
commit 9f74c89f3b
2 changed files with 32 additions and 27 deletions
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sw/airborne/firmwares/rotorcraft/autopilot_utils.c
+22
View File
@@ -128,3 +128,25 @@ uint8_t ap_mode_of_two_switches(void)
#endif
/** Set Rotorcraft commands.
* Limit thrust and/or yaw depending of the in_flight
* and motors_on flag status
*/
void WEAK set_rotorcraft_commands(pprz_t *cmd_out, int32_t *cmd_in, bool in_flight __attribute__((unused)), bool motors_on __attribute__((unused)))
{
#if !ROTORCRAFT_IS_HELI
#if !ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED
if (!in_flight) {
cmd_in[COMMAND_YAW] = 0;
}
#endif
if (!motors_on) {
cmd_in[COMMAND_THRUST] = 0;
}
#endif
cmd_out[COMMAND_ROLL] = cmd_in[COMMAND_ROLL];
cmd_out[COMMAND_PITCH] = cmd_in[COMMAND_PITCH];
cmd_out[COMMAND_YAW] = cmd_in[COMMAND_YAW];
cmd_out[COMMAND_THRUST] = cmd_in[COMMAND_THRUST];
}
sw/airborne/firmwares/rotorcraft/autopilot_utils.h
+10 -27
View File
@@ -50,35 +50,18 @@ extern uint8_t ap_mode_of_two_switches(void)
/** Set Rotorcraft commands.
* Limit thrust and/or yaw depending of the in_flight
* and motors_on flag status
*
* A default implementation is provided, but the function can be redefined
*
* @param[out] cmd_out output command vector in pprz_t (usually commands array)
* @param[in/out] cmd_in input commands to apply, might be affected by in_flight and motors_on param (FIXME really ?)
* @param[in] in_flight tells if rotorcraft is in flight
* @param[in] motors_on tells if motors are running
*/
#ifdef ROTORCRAFT_IS_HELI
#define SetRotorcraftCommands(_cmd, _in_flight, _motor_on) { \
commands[COMMAND_ROLL] = _cmd[COMMAND_ROLL]; \
commands[COMMAND_PITCH] = _cmd[COMMAND_PITCH]; \
commands[COMMAND_YAW] = _cmd[COMMAND_YAW]; \
commands[COMMAND_THRUST] = _cmd[COMMAND_THRUST]; \
}
#else
extern void set_rotorcraft_commands(pprz_t *cmd_out, int32_t *cmd_in, bool in_flight, bool motors_on);
#ifndef ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED
#define SetRotorcraftCommands(_cmd, _in_flight, _motor_on) { \
if (!(_in_flight)) { _cmd[COMMAND_YAW] = 0; } \
if (!(_motor_on)) { _cmd[COMMAND_THRUST] = 0; } \
commands[COMMAND_ROLL] = _cmd[COMMAND_ROLL]; \
commands[COMMAND_PITCH] = _cmd[COMMAND_PITCH]; \
commands[COMMAND_YAW] = _cmd[COMMAND_YAW]; \
commands[COMMAND_THRUST] = _cmd[COMMAND_THRUST]; \
}
#else
#define SetRotorcraftCommands(_cmd, _in_flight, _motor_on) { \
if (!(_motor_on)) { _cmd[COMMAND_THRUST] = 0; } \
commands[COMMAND_ROLL] = _cmd[COMMAND_ROLL]; \
commands[COMMAND_PITCH] = _cmd[COMMAND_PITCH]; \
commands[COMMAND_YAW] = _cmd[COMMAND_YAW]; \
commands[COMMAND_THRUST] = _cmd[COMMAND_THRUST]; \
}
#endif
#endif
// in case, backward compatibility macro
#define SetRotorcraftCommands(_cmd, _in_flight, _motors_on) set_rotorcraft_commands(commands, _cmd, _in_flight, _motors_on)
#endif // AUTOPILOT_UTILS_H