diff --git a/sw/airborne/modules/multi/formation.c b/sw/airborne/modules/multi/formation.c index d724a58ccc..0a1b7c2273 100644 --- a/sw/airborne/modules/multi/formation.c +++ b/sw/airborne/modules/multi/formation.c @@ -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);