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fix sending of messages

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This commit is contained in:
Gautier Hattenberger
2009-11-27 13:39:02 +00:00
parent db4d6fd711
commit 9fe2f2695f
1 changed files with 5 additions and 5 deletions
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sw/airborne/modules/multi/formation.c
+5 -5
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@@ -85,7 +85,7 @@ int formation_init(void) {
int add_slot(uint8_t _id, float slot_e, float slot_n, float slot_a) {
if (_id != AC_ID && the_acs_id[_id] == 0) return FALSE; // no info for this AC
DOWNLINK_SEND_FORMATION_SLOT_TM(&_id, &form_mode, &slot_e, &slot_n, &slot_a);
DOWNLINK_SEND_FORMATION_SLOT_TM(DefaultChannel,&_id, &form_mode, &slot_e, &slot_n, &slot_a);
formation[the_acs_id[_id]].status = IDLE;
formation[the_acs_id[_id]].east = slot_e;
formation[the_acs_id[_id]].north = slot_n;
@@ -100,7 +100,7 @@ int start_formation(void) {
if (formation[i].status == IDLE) formation[i].status = ACTIVE;
}
enum slot_status active = ACTIVE;
DOWNLINK_SEND_FORMATION_STATUS_TM(&ac_id,&leader_id,&active);
DOWNLINK_SEND_FORMATION_STATUS_TM(DefaultChannel,&ac_id,&leader_id,&active);
// store current cruise and alt
old_cruise = v_ctl_auto_throttle_cruise_throttle;
old_alt = nav_altitude;
@@ -114,7 +114,7 @@ int stop_formation(void) {
if (formation[i].status == ACTIVE) formation[i].status = IDLE;
}
enum slot_status idle = IDLE;
DOWNLINK_SEND_FORMATION_STATUS_TM(&ac_id,&leader_id,&idle);
DOWNLINK_SEND_FORMATION_STATUS_TM(DefaultChannel,&ac_id,&leader_id,&idle);
// restore cruise and alt
v_ctl_auto_throttle_cruise_throttle = old_cruise;
old_cruise = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
@@ -147,10 +147,10 @@ int formation_flight(void) {
// broadcast info
uint8_t ac_id = AC_ID;
enum slot_status status = formation[the_acs_id[AC_ID]].status;
DOWNLINK_SEND_FORMATION_STATUS_TM(&ac_id,&leader_id,&status);
DOWNLINK_SEND_FORMATION_STATUS_TM(DefaultChannel,&ac_id,&leader_id,&status);
if (++_1Hz>=4) {
_1Hz=0;
DOWNLINK_SEND_FORMATION_SLOT_TM(&ac_id, &form_mode,
DOWNLINK_SEND_FORMATION_SLOT_TM(DefaultChannel,&ac_id, &form_mode,
&formation[the_acs_id[AC_ID]].east,
&formation[the_acs_id[AC_ID]].north,
&formation[the_acs_id[AC_ID]].alt);