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rename BOOZ2_MODE_* to MODE_* and BOOZ2_AP_MODE_* to AP_MODE_*

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This commit is contained in:
Felix Ruess
2010-09-27 22:55:34 +00:00
parent 451e983c97
commit ab451dcd26
33 changed files with 150 additions and 150 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+3 -3
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@@ -170,9 +170,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
conf/airframes/ENAC/quadrotor/mini.xml
+3 -3
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@@ -191,9 +191,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
conf/airframes/ENAC/quadrotor/mkk1.xml
+3 -3
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@@ -198,9 +198,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+3 -3
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@@ -185,9 +185,9 @@
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/><!--Attitude Stabilized Roll,Pitch,Yaw | Direct Throttle control-->
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/><!--Attitude Stabilized Roll,Pitch,Yaw | Throttle commanded climb rate control-->
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/><!--Attitude Stabilized Roll,Pitch,Yaw | Altitude hold(100% throttle required) control-->
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/><!--Attitude Stabilized Roll,Pitch,Yaw | Direct Throttle control-->
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/><!--Attitude Stabilized Roll,Pitch,Yaw | Throttle commanded climb rate control-->
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/><!--Attitude Stabilized Roll,Pitch,Yaw | Altitude hold(100% throttle required) control-->
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+3 -3
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@@ -203,9 +203,9 @@
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/><!--Attitude Stabilized Roll,Pitch,Yaw | Direct Throttle control-->
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/><!--Attitude Stabilized Roll,Pitch,Yaw | Throttle commanded climb rate control-->
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/><!--Attitude Stabilized Roll,Pitch,Yaw | Altitude hold(100% throttle required) control-->
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/><!--Attitude Stabilized Roll,Pitch,Yaw | Direct Throttle control-->
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/><!--Attitude Stabilized Roll,Pitch,Yaw | Throttle commanded climb rate control-->
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/><!--Attitude Stabilized Roll,Pitch,Yaw | Altitude hold(100% throttle required) control-->
</section>
conf/airframes/Poine/booz2_a1.xml
+3 -3
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@@ -175,9 +175,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="FMS">
conf/airframes/Poine/booz2_a1p.xml
+3 -3
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@@ -179,9 +179,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="FMS">
conf/airframes/Poine/booz2_a2.xml
+3 -3
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@@ -168,9 +168,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
conf/airframes/Poine/booz2_a3.xml
+3 -3
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@@ -153,9 +153,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
conf/airframes/Poine/booz2_a4.xml
+3 -3
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@@ -131,9 +131,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
</section>
conf/airframes/Poine/booz2_a5.xml
+3 -3
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@@ -175,9 +175,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<makefile>
conf/airframes/Poine/booz2_a6.xml
+3 -3
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@@ -70,9 +70,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
conf/airframes/Poine/booz2_a7.xml
+3 -3
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@@ -69,9 +69,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+3 -3
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@@ -248,9 +248,9 @@ second attempt
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="FMS">
conf/airframes/UofAdelaide/A1000_LISA.xml
+3 -3
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@@ -57,9 +57,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
conf/airframes/UofAdelaide/A1000_NOVA.xml
+3 -3
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@@ -211,9 +211,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+3 -3
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@@ -211,9 +211,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
conf/airframes/UofAdelaide/booz2_a1000.xml
+3 -3
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@@ -250,9 +250,9 @@ second attempt
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="FMS">
conf/airframes/UofAdelaide/lisa_a1000.xml
+3 -3
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@@ -65,9 +65,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
conf/airframes/booz2_Aron.xml
+3 -3
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@@ -168,9 +168,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
conf/airframes/booz2_NoVa.xml
+3 -3
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@@ -211,9 +211,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
conf/airframes/booz2_NoVa_001.xml
+3 -3
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@@ -211,9 +211,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
conf/airframes/booz2_NoVa_002.xml
+3 -3
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@@ -211,9 +211,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
conf/airframes/booz2_flixr.xml
+4 -4
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@@ -207,10 +207,10 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
</section>
<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
<define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
<define name="AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD" />
<section name="MODE" prefix="MODE_">
<define name="MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD" />
<define name="AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
</section>
conf/airframes/booz2_ppzuav.xml
+3 -3
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@@ -186,9 +186,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
conf/airframes/booz2_s1.xml
+3 -3
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@@ -164,9 +164,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
conf/airframes/booz2_x1.xml
+3 -3
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@@ -173,9 +173,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
</section>
<section name="FMS">
conf/airframes/esden/lisa_asctec.xml
+3 -3
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@@ -65,9 +65,9 @@
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
sw/airborne/booz/booz2_navigation.h
+2 -2
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@@ -82,8 +82,8 @@ bool_t nav_detect_ground(void);
void nav_home(void);
#define NavKillThrottle() ({ if (autopilot_mode == BOOZ2_AP_MODE_NAV) { kill_throttle = 1; autopilot_motors_on = 0; } FALSE; })
#define NavResurrect() ({ if (autopilot_mode == BOOZ2_AP_MODE_NAV) { kill_throttle = 0; autopilot_motors_on = 1; } FALSE; })
#define NavKillThrottle() ({ if (autopilot_mode == AP_MODE_NAV) { kill_throttle = 1; autopilot_motors_on = 0; } FALSE; })
#define NavResurrect() ({ if (autopilot_mode == AP_MODE_NAV) { kill_throttle = 0; autopilot_motors_on = 1; } FALSE; })
#define InitStage() nav_init_stage();
sw/airborne/csc/mercury_ap.c
+2 -2
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@@ -64,12 +64,12 @@ uint8_t props_throttle_pass;
void csc_ap_init(void) {
booz2_autopilot_mode = BOOZ2_AP_MODE_FAILSAFE;
booz2_autopilot_mode = AP_MODE_FAILSAFE;
booz2_autopilot_motors_on = FALSE;
booz2_autopilot_in_flight = FALSE;
booz2_autopilot_motors_on_counter = 0;
booz2_autopilot_in_flight_counter = 0;
booz2_autopilot_mode_auto2 = BOOZ2_MODE_AUTO2;
booz2_autopilot_mode_auto2 = MODE_AUTO2;
props_throttle_pass = 0;
for(uint8_t i = 0; i < PROPS_NB; i++){
sw/airborne/firmwares/rotorcraft/autopilot.c
+32 -32
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@@ -53,13 +53,13 @@ uint16_t autopilot_flight_time;
#define AUTOPILOT_YAW_TRESHOLD (MAX_PPRZ * 19 / 20)
void autopilot_init(void) {
autopilot_mode = BOOZ2_AP_MODE_KILL;
autopilot_mode = AP_MODE_KILL;
autopilot_motors_on = FALSE;
autopilot_in_flight = FALSE;
kill_throttle = ! autopilot_motors_on;
autopilot_motors_on_counter = 0;
autopilot_in_flight_counter = 0;
autopilot_mode_auto2 = BOOZ2_MODE_AUTO2;
autopilot_mode_auto2 = MODE_AUTO2;
autopilot_detect_ground = FALSE;
autopilot_detect_ground_once = FALSE;
autopilot_flight_time = 0;
@@ -73,16 +73,16 @@ void autopilot_periodic(void) {
RunOnceEvery(BOOZ2_NAV_PRESCALER, nav_periodic_task());
#ifdef FAILSAFE_GROUND_DETECT
if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && autopilot_detect_ground) {
autopilot_set_mode(BOOZ2_AP_MODE_KILL);
if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
autopilot_set_mode(AP_MODE_KILL);
autopilot_detect_ground = FALSE;
}
#endif
if ( !autopilot_motors_on ||
#ifndef FAILSAFE_GROUND_DETECT
autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
autopilot_mode == AP_MODE_FAILSAFE ||
#endif
autopilot_mode == BOOZ2_AP_MODE_KILL ) {
autopilot_mode == AP_MODE_KILL ) {
SetCommands(booz2_commands_failsafe,
autopilot_in_flight, autopilot_motors_on);
}
@@ -101,32 +101,32 @@ void autopilot_set_mode(uint8_t new_autopilot_mode) {
if (new_autopilot_mode != autopilot_mode) {
/* horizontal mode */
switch (new_autopilot_mode) {
case BOOZ2_AP_MODE_FAILSAFE:
case AP_MODE_FAILSAFE:
#ifndef BOOZ_KILL_AS_FAILSAFE
booz_stab_att_sp_euler.phi = 0;
booz_stab_att_sp_euler.theta = 0;
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_ATTITUDE);
break;
#endif
case BOOZ2_AP_MODE_KILL:
case AP_MODE_KILL:
autopilot_motors_on = FALSE;
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_KILL);
break;
case BOOZ2_AP_MODE_RATE_DIRECT:
case BOOZ2_AP_MODE_RATE_Z_HOLD:
case AP_MODE_RATE_DIRECT:
case AP_MODE_RATE_Z_HOLD:
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_RATE);
break;
case BOOZ2_AP_MODE_ATTITUDE_DIRECT:
case BOOZ2_AP_MODE_ATTITUDE_CLIMB:
case BOOZ2_AP_MODE_ATTITUDE_Z_HOLD:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_ATTITUDE_Z_HOLD:
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_ATTITUDE);
break;
case BOOZ2_AP_MODE_HOVER_DIRECT:
case BOOZ2_AP_MODE_HOVER_CLIMB:
case BOOZ2_AP_MODE_HOVER_Z_HOLD:
case AP_MODE_HOVER_DIRECT:
case AP_MODE_HOVER_CLIMB:
case AP_MODE_HOVER_Z_HOLD:
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_HOVER);
break;
case BOOZ2_AP_MODE_NAV:
case AP_MODE_NAV:
booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_NAV);
break;
default:
@@ -134,34 +134,34 @@ void autopilot_set_mode(uint8_t new_autopilot_mode) {
}
/* vertical mode */
switch (new_autopilot_mode) {
case BOOZ2_AP_MODE_FAILSAFE:
case AP_MODE_FAILSAFE:
#ifndef BOOZ_KILL_AS_FAILSAFE
booz2_guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_CLIMB);
break;
#endif
case BOOZ2_AP_MODE_KILL:
case AP_MODE_KILL:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_KILL);
break;
case BOOZ2_AP_MODE_RATE_DIRECT:
case BOOZ2_AP_MODE_ATTITUDE_DIRECT:
case BOOZ2_AP_MODE_HOVER_DIRECT:
case AP_MODE_RATE_DIRECT:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_HOVER_DIRECT:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_RC_DIRECT);
break;
case BOOZ2_AP_MODE_RATE_RC_CLIMB:
case BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB:
case AP_MODE_RATE_RC_CLIMB:
case AP_MODE_ATTITUDE_RC_CLIMB:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_RC_CLIMB);
break;
case BOOZ2_AP_MODE_ATTITUDE_CLIMB:
case BOOZ2_AP_MODE_HOVER_CLIMB:
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_HOVER_CLIMB:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_CLIMB);
break;
case BOOZ2_AP_MODE_RATE_Z_HOLD:
case BOOZ2_AP_MODE_ATTITUDE_Z_HOLD:
case BOOZ2_AP_MODE_HOVER_Z_HOLD:
case AP_MODE_RATE_Z_HOLD:
case AP_MODE_ATTITUDE_Z_HOLD:
case AP_MODE_HOVER_Z_HOLD:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_HOVER);
break;
case BOOZ2_AP_MODE_NAV:
case AP_MODE_NAV:
booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_NAV);
break;
default:
@@ -244,14 +244,14 @@ void autopilot_on_rc_frame(void) {
#ifdef RADIO_CONTROL_KILL_SWITCH
if (radio_control.values[RADIO_CONTROL_KILL_SWITCH] < 0)
autopilot_set_mode(BOOZ2_AP_MODE_KILL);
autopilot_set_mode(AP_MODE_KILL);
#endif
autopilot_check_motors_on();
autopilot_check_in_flight();
kill_throttle = !autopilot_motors_on;
if (autopilot_mode > BOOZ2_AP_MODE_FAILSAFE) {
if (autopilot_mode > AP_MODE_FAILSAFE) {
booz2_guidance_v_read_rc();
booz2_guidance_h_read_rc(autopilot_in_flight);
}
sw/airborne/firmwares/rotorcraft/autopilot.h
+23 -23
View File
@@ -32,19 +32,19 @@
#include "airframe.h"
#include "booz2_ins.h"
#define BOOZ2_AP_MODE_FAILSAFE 0
#define BOOZ2_AP_MODE_KILL 1
#define BOOZ2_AP_MODE_RATE_DIRECT 2
#define BOOZ2_AP_MODE_ATTITUDE_DIRECT 3
#define BOOZ2_AP_MODE_RATE_RC_CLIMB 4
#define BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB 5
#define BOOZ2_AP_MODE_ATTITUDE_CLIMB 6
#define BOOZ2_AP_MODE_RATE_Z_HOLD 7
#define BOOZ2_AP_MODE_ATTITUDE_Z_HOLD 8
#define BOOZ2_AP_MODE_HOVER_DIRECT 9
#define BOOZ2_AP_MODE_HOVER_CLIMB 10
#define BOOZ2_AP_MODE_HOVER_Z_HOLD 11
#define BOOZ2_AP_MODE_NAV 12
#define AP_MODE_FAILSAFE 0
#define AP_MODE_KILL 1
#define AP_MODE_RATE_DIRECT 2
#define AP_MODE_ATTITUDE_DIRECT 3
#define AP_MODE_RATE_RC_CLIMB 4
#define AP_MODE_ATTITUDE_RC_CLIMB 5
#define AP_MODE_ATTITUDE_CLIMB 6
#define AP_MODE_RATE_Z_HOLD 7
#define AP_MODE_ATTITUDE_Z_HOLD 8
#define AP_MODE_HOVER_DIRECT 9
#define AP_MODE_HOVER_CLIMB 10
#define AP_MODE_HOVER_Z_HOLD 11
#define AP_MODE_NAV 12
extern uint8_t autopilot_mode;
@@ -66,14 +66,14 @@ extern bool_t autopilot_detect_ground_once;
extern uint16_t autopilot_flight_time;
#ifndef BOOZ2_MODE_MANUAL
#define BOOZ2_MODE_MANUAL BOOZ2_AP_MODE_RATE_DIRECT
#ifndef MODE_MANUAL
#define MODE_MANUAL AP_MODE_RATE_DIRECT
#endif
#ifndef BOOZ2_MODE_AUTO1
#define BOOZ2_MODE_AUTO1 BOOZ2_AP_MODE_ATTITUDE_DIRECT
#ifndef MODE_AUTO1
#define MODE_AUTO1 AP_MODE_ATTITUDE_DIRECT
#endif
#ifndef BOOZ2_MODE_AUTO2
#define BOOZ2_MODE_AUTO2 BOOZ2_AP_MODE_ATTITUDE_Z_HOLD
#ifndef MODE_AUTO2
#define MODE_AUTO2 AP_MODE_ATTITUDE_Z_HOLD
#endif
@@ -84,9 +84,9 @@ extern uint16_t autopilot_flight_time;
if (_rc > TRESHOLD_2_PPRZ) \
_booz_mode = autopilot_mode_auto2; \
else if (_rc > TRESHOLD_1_PPRZ) \
_booz_mode = BOOZ2_MODE_AUTO1; \
_booz_mode = MODE_AUTO1; \
else \
_booz_mode = BOOZ2_MODE_MANUAL; \
_booz_mode = MODE_MANUAL; \
}
#define autopilot_KillThrottle(_v) { \
@@ -104,8 +104,8 @@ extern uint16_t autopilot_flight_time;
#ifndef TRESHOLD_GROUND_DETECT
#define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
#endif
static inline void BoozDetectGroundEvent(void) {
if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE || autopilot_detect_ground_once) {
static inline void DetectGroundEvent(void) {
if (autopilot_mode == AP_MODE_FAILSAFE || autopilot_detect_ground_once) {
if (booz_ins_ltp_accel.z < -TRESHOLD_GROUND_DETECT ||
booz_ins_ltp_accel.z > TRESHOLD_GROUND_DETECT) {
autopilot_detect_ground = TRUE;
sw/airborne/firmwares/rotorcraft/main.c
+6 -6
View File
@@ -148,9 +148,9 @@ STATIC_INLINE void booz2_main_periodic( void ) {
{ \
radio_control_periodic(); \
if (radio_control.status != RADIO_CONTROL_OK && \
autopilot_mode != BOOZ2_AP_MODE_KILL && \
autopilot_mode != BOOZ2_AP_MODE_NAV) \
autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
autopilot_mode != AP_MODE_KILL && \
autopilot_mode != AP_MODE_NAV) \
autopilot_set_mode(AP_MODE_FAILSAFE); \
}, \
{ \
booz_fms_periodic(); \
@@ -174,8 +174,8 @@ STATIC_INLINE void booz2_main_periodic( void ) {
#ifdef USE_GPS
if (radio_control.status != RADIO_CONTROL_OK && \
autopilot_mode == BOOZ2_AP_MODE_NAV && GpsIsLost()) \
autopilot_set_mode(BOOZ2_AP_MODE_FAILSAFE); \
autopilot_mode == AP_MODE_NAV && GpsIsLost()) \
autopilot_set_mode(AP_MODE_FAILSAFE); \
booz_gps_periodic();
#endif
@@ -208,7 +208,7 @@ STATIC_INLINE void booz2_main_event( void ) {
#endif
#ifdef FAILSAFE_GROUND_DETECT
BoozDetectGroundEvent();
DetectGroundEvent();
#endif
modules_event_task();