From c35054a6e610fe28f1a4d5ad604bc0c7eb0c168d Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 1 Apr 2008 12:28:22 +0000
Subject: [PATCH] declaration of variables for control from an external system

---
 sw/airborne/external.c | 22 ++++++++++++++++++++++
 sw/airborne/external.h | 22 ++++++++++++++++++++++
 2 files changed, 44 insertions(+)
 create mode 100644 sw/airborne/external.c
 create mode 100644 sw/airborne/external.h

diff --git a/sw/airborne/external.c b/sw/airborne/external.c
new file mode 100644
index 0000000000..41ef60762c
--- /dev/null
+++ b/sw/airborne/external.c
@@ -0,0 +1,22 @@
+#define EXTERNAL_C
+
+#include "external.h"
+#include "flight_plan.h"
+
+float nav_roll = 0.;
+float nav_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
+float nav_cruise = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
+float nav_alt = SECURITY_ALT;
+
+int setNavCruise( void ) {
+  v_ctl_auto_throttle_cruise_throttle = nav_cruise;
+  return FALSE;
+}
+
+/*
+int nav_throttle_loop( void ) {
+  nav_throttle_setpoint = TRIM_UPPRZ(nav_throttle * MAX_PPRZ);
+  return FALSE;
+}
+*/
+
diff --git a/sw/airborne/external.h b/sw/airborne/external.h
new file mode 100644
index 0000000000..0e8f6c772f
--- /dev/null
+++ b/sw/airborne/external.h
@@ -0,0 +1,22 @@
+#ifndef EXTERNAL_H
+#define EXTERNAL_H
+
+#include "nav.h"
+
+extern float nav_roll; /* degrees, >0 on the right */
+/* int nav_ground_speed_loop(void); */
+
+extern float nav_throttle;
+/* int nav_throttle_loop(void); */
+
+extern float nav_cruise;
+int setNavCruise(void);
+
+extern float nav_alt;
+
+#define external_SetNavThrottle(_v) { \
+  nav_throttle = (_v ? _v : nav_throttle); \
+  Bound(nav_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); \
+}
+
+#endif