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swap ifdef conditions in downlink, as ahrs_infrared now also defines USE_AHRS, but ahrs_timeout_counter is only used for imu based ahrs

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Felix Ruess
2011-08-23 21:13:11 +02:00
parent 13533fdc49
commit c40433d03d
1 changed files with 3 additions and 3 deletions
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sw/airborne/ap_downlink.h
+3 -3
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@@ -93,10 +93,10 @@
#define PERIODIC_SEND_PPRZ_MODE(_chan) DOWNLINK_SEND_PPRZ_MODE(_chan, &pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
#define PERIODIC_SEND_DESIRED(_chan) DOWNLINK_SEND_DESIRED(_chan, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint);
#ifdef USE_AHRS
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint8_t mde = 3; if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs_timeout_counter > 10) mde = 5; uint16_t val = 0; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &val); }
#elif defined(USE_INFRARED)
#ifdef USE_INFRARED
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint16_t contrast = abs(infrared.roll) + abs(infrared.pitch) + abs(infrared.top); uint8_t mde = 3; if (contrast < 50) mde = 7; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &contrast); }
#elif defined USE_AHRS
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint8_t mde = 3; if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs_timeout_counter > 10) mde = 5; uint16_t val = 0; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &val); }
#else
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) {}
#endif