diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml index 43058d8ac7..0d84a3a32e 100644 --- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml +++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml @@ -170,9 +170,9 @@
- - - + + +
diff --git a/conf/airframes/ENAC/quadrotor/mini.xml b/conf/airframes/ENAC/quadrotor/mini.xml index 5677770ab4..d9460176ed 100644 --- a/conf/airframes/ENAC/quadrotor/mini.xml +++ b/conf/airframes/ENAC/quadrotor/mini.xml @@ -191,9 +191,9 @@
- - - + + +
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml index c0afc645fc..ae32fca068 100644 --- a/conf/airframes/ENAC/quadrotor/mkk1.xml +++ b/conf/airframes/ENAC/quadrotor/mkk1.xml @@ -198,9 +198,9 @@
- - - + + +
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml index 2c98ba2db7..a19cd74737 100644 --- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml +++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml @@ -185,9 +185,9 @@
- - - + + +
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml index 7da33d4abb..9d486e0159 100644 --- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml +++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml @@ -203,9 +203,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml index 376126abc0..216d7dbbab 100644 --- a/conf/airframes/Poine/booz2_a1.xml +++ b/conf/airframes/Poine/booz2_a1.xml @@ -175,9 +175,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/Poine/booz2_a1p.xml index 0422a466cf..dddb01b4d0 100644 --- a/conf/airframes/Poine/booz2_a1p.xml +++ b/conf/airframes/Poine/booz2_a1p.xml @@ -179,9 +179,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a2.xml b/conf/airframes/Poine/booz2_a2.xml index 773dfe1661..a5434b4d32 100644 --- a/conf/airframes/Poine/booz2_a2.xml +++ b/conf/airframes/Poine/booz2_a2.xml @@ -168,9 +168,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a3.xml b/conf/airframes/Poine/booz2_a3.xml index 808e91b756..546f7d5e62 100644 --- a/conf/airframes/Poine/booz2_a3.xml +++ b/conf/airframes/Poine/booz2_a3.xml @@ -153,9 +153,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a4.xml b/conf/airframes/Poine/booz2_a4.xml index 12b7369806..c43da7f3a3 100644 --- a/conf/airframes/Poine/booz2_a4.xml +++ b/conf/airframes/Poine/booz2_a4.xml @@ -131,9 +131,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a5.xml b/conf/airframes/Poine/booz2_a5.xml index 4503c2d94a..4280e54dfb 100644 --- a/conf/airframes/Poine/booz2_a5.xml +++ b/conf/airframes/Poine/booz2_a5.xml @@ -175,9 +175,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a6.xml b/conf/airframes/Poine/booz2_a6.xml index 100b7771db..ee86e1025d 100644 --- a/conf/airframes/Poine/booz2_a6.xml +++ b/conf/airframes/Poine/booz2_a6.xml @@ -70,9 +70,9 @@
- - - + + +
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml index 79a1e959fa..50b486e49a 100644 --- a/conf/airframes/Poine/booz2_a7.xml +++ b/conf/airframes/Poine/booz2_a7.xml @@ -69,9 +69,9 @@
- - - + + +
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml index c13162dce9..79e49c33ac 100644 --- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml +++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml @@ -248,9 +248,9 @@ second attempt
- - - + + +
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml index 2042bf2736..0aaef70564 100644 --- a/conf/airframes/UofAdelaide/A1000_LISA.xml +++ b/conf/airframes/UofAdelaide/A1000_LISA.xml @@ -57,9 +57,9 @@
- - - + + +
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml index e3aa426373..18fc32d2cf 100644 --- a/conf/airframes/UofAdelaide/A1000_NOVA.xml +++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml @@ -211,9 +211,9 @@
- - - + + +
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml index 2c166885f5..1216e14708 100644 --- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml +++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml @@ -211,9 +211,9 @@
- - - + + +
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml index 59c805ec7f..5dd0629918 100755 --- a/conf/airframes/UofAdelaide/booz2_a1000.xml +++ b/conf/airframes/UofAdelaide/booz2_a1000.xml @@ -250,9 +250,9 @@ second attempt
- - - + + +
diff --git a/conf/airframes/UofAdelaide/lisa_a1000.xml b/conf/airframes/UofAdelaide/lisa_a1000.xml index 534c024217..2d62df517d 100644 --- a/conf/airframes/UofAdelaide/lisa_a1000.xml +++ b/conf/airframes/UofAdelaide/lisa_a1000.xml @@ -65,9 +65,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_Aron.xml b/conf/airframes/booz2_Aron.xml index 0b319db361..5b14345a5a 100644 --- a/conf/airframes/booz2_Aron.xml +++ b/conf/airframes/booz2_Aron.xml @@ -168,9 +168,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_NoVa.xml b/conf/airframes/booz2_NoVa.xml index fd5c187c47..54eae8b608 100644 --- a/conf/airframes/booz2_NoVa.xml +++ b/conf/airframes/booz2_NoVa.xml @@ -211,9 +211,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_NoVa_001.xml b/conf/airframes/booz2_NoVa_001.xml index ef9be7c068..c9a8dc0400 100644 --- a/conf/airframes/booz2_NoVa_001.xml +++ b/conf/airframes/booz2_NoVa_001.xml @@ -211,9 +211,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_NoVa_002.xml b/conf/airframes/booz2_NoVa_002.xml index 20c8f54fe2..0caf015350 100644 --- a/conf/airframes/booz2_NoVa_002.xml +++ b/conf/airframes/booz2_NoVa_002.xml @@ -211,9 +211,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml index 73f7ccbff9..7297aa90a9 100644 --- a/conf/airframes/booz2_flixr.xml +++ b/conf/airframes/booz2_flixr.xml @@ -207,10 +207,10 @@ -
- - - +
+ + +
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml index 18846d1408..a3bd87acd6 100644 --- a/conf/airframes/booz2_ppzuav.xml +++ b/conf/airframes/booz2_ppzuav.xml @@ -186,9 +186,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_s1.xml b/conf/airframes/booz2_s1.xml index e145993ca4..55c04e49eb 100644 --- a/conf/airframes/booz2_s1.xml +++ b/conf/airframes/booz2_s1.xml @@ -164,9 +164,9 @@
- - - + + +
diff --git a/conf/airframes/booz2_x1.xml b/conf/airframes/booz2_x1.xml index 2d534780fe..9e54f74ffb 100644 --- a/conf/airframes/booz2_x1.xml +++ b/conf/airframes/booz2_x1.xml @@ -173,9 +173,9 @@
- - - + + +
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml index 60268c824c..19794839b4 100644 --- a/conf/airframes/esden/lisa_asctec.xml +++ b/conf/airframes/esden/lisa_asctec.xml @@ -65,9 +65,9 @@
- - - + + +
diff --git a/sw/airborne/booz/booz2_navigation.h b/sw/airborne/booz/booz2_navigation.h index d2c095374c..2a1103c2e9 100644 --- a/sw/airborne/booz/booz2_navigation.h +++ b/sw/airborne/booz/booz2_navigation.h @@ -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(); diff --git a/sw/airborne/csc/mercury_ap.c b/sw/airborne/csc/mercury_ap.c index 4cea4e684a..89cffbc23c 100644 --- a/sw/airborne/csc/mercury_ap.c +++ b/sw/airborne/csc/mercury_ap.c @@ -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++){ diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c index c77eb1c66d..b2fa265ff2 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.c +++ b/sw/airborne/firmwares/rotorcraft/autopilot.c @@ -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); } diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h index 280728e789..1dbd543810 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot.h @@ -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; diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c index b2643930e1..e8b40b335b 100644 --- a/sw/airborne/firmwares/rotorcraft/main.c +++ b/sw/airborne/firmwares/rotorcraft/main.c @@ -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();