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macro for nav periodic rate on booz

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This commit is contained in:
Gautier Hattenberger
2009-10-19 11:24:46 +00:00
parent 9bbf82826f
commit a106cf9293
2 changed files with 3 additions and 1 deletions
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sw/airborne/booz/booz2_autopilot.c
+1 -1
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@@ -71,7 +71,7 @@ void booz2_autopilot_init(void) {
void booz2_autopilot_periodic(void) {
RunOnceEvery(32, nav_periodic_task());
RunOnceEvery(BOOZ2_AP_NAV_RATE, nav_periodic_task());
#ifdef BOOZ_FAILSAFE_GROUND_DETECT
if (booz2_autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && booz2_autopilot_detect_ground) {
booz2_autopilot_set_mode(BOOZ2_AP_MODE_KILL);
sw/airborne/booz/booz2_autopilot.h
+2
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@@ -46,6 +46,8 @@
#define BOOZ2_AP_MODE_HOVER_Z_HOLD 11
#define BOOZ2_AP_MODE_NAV 12
#define BOOZ2_AP_NAV_RATE 32
extern uint8_t booz2_autopilot_mode;
extern uint8_t booz2_autopilot_mode_auto2;
extern bool_t booz2_autopilot_motors_on;