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SURVEY messages removed when not active

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This commit is contained in:
Pascal Brisset
2007-07-22 08:02:12 +00:00
parent d8defdc5fb
commit c5838eb894
4 changed files with 12 additions and 2 deletions
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sw/airborne/ap_downlink.h
+4 -1
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@@ -154,7 +154,10 @@
#define PERIODIC_SEND_DL_VALUE() PeriodicSendDlValue() /** generated from the xml settings config in conf/settings */ #define PERIODIC_SEND_DL_VALUE() PeriodicSendDlValue() /** generated from the xml settings config in conf/settings */
#define PERIODIC_SEND_SURVEY() DOWNLINK_SEND_SURVEY(&nav_survey_east, &nav_survey_north, &nav_survey_west, &nav_survey_south) #define PERIODIC_SEND_SURVEY() { \
if (nav_survey_active) \
DOWNLINK_SEND_SURVEY(&nav_survey_east, &nav_survey_north, &nav_survey_west, &nav_survey_south); \
}
#define PERIODIC_SEND_RANGEFINDER() DOWNLINK_SEND_RANGEFINDER(&rangemeter, &ctl_grz_z_dot, &ctl_grz_z_dot_sum_err, &ctl_grz_z_dot_setpoint, &ctl_grz_z_sum_err, &ctl_grz_z_setpoint, &flying) #define PERIODIC_SEND_RANGEFINDER() DOWNLINK_SEND_RANGEFINDER(&rangemeter, &ctl_grz_z_dot, &ctl_grz_z_dot_sum_err, &ctl_grz_z_dot_setpoint, &ctl_grz_z_sum_err, &ctl_grz_z_setpoint, &flying)
sw/airborne/nav.c
+5 -1
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@@ -85,6 +85,8 @@ float nav_ground_speed_setpoint, nav_ground_speed_pgain;
/* Used in nav_survey_rectangle. Defined here for downlink and uplink */ /* Used in nav_survey_rectangle. Defined here for downlink and uplink */
float nav_survey_shift; float nav_survey_shift;
float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south; float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south;
bool_t nav_survey_active;
void nav_init_stage( void ) { void nav_init_stage( void ) {
last_x = estimator_x; last_y = estimator_y; last_x = estimator_x; last_y = estimator_y;
@@ -410,7 +412,7 @@ static inline void compute_dist2_to_home(void) {
#ifndef FAILSAFE_HOME_RADIUS #ifndef FAILSAFE_HOME_RADIUS
#define FAILSAFE_HOME_RADIUS 50 #define FAILSAFE_HOME_RADIUS 100
#endif #endif
/** \brief Home mode navigation (circle around HOME) */ /** \brief Home mode navigation (circle around HOME) */
@@ -429,6 +431,8 @@ void nav_home(void) {
* plan * plan
*/ */
void nav_update(void) { void nav_update(void) {
nav_survey_active = FALSE;
compute_dist2_to_home(); compute_dist2_to_home();
auto_nav(); /* From flight_plan.h */ auto_nav(); /* From flight_plan.h */
sw/airborne/nav.h
+1
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@@ -118,6 +118,7 @@ extern float nav_ground_speed_pgain, nav_ground_speed_setpoint;
extern float nav_survey_shift; extern float nav_survey_shift;
extern float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south; extern float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south;
extern bool_t nav_survey_active;
void nav_update(void); void nav_update(void);
void nav_home(void); void nav_home(void);
sw/airborne/nav_survey_rectangle.c
+2
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@@ -46,6 +46,8 @@ void nav_survey_rectangle_init(uint8_t wp1, uint8_t wp2, float grid, survey_orie
void nav_survey_rectangle(uint8_t wp1, uint8_t wp2) { void nav_survey_rectangle(uint8_t wp1, uint8_t wp2) {
static float survey_radius; static float survey_radius;
nav_survey_active = TRUE;
nav_survey_west = Min(waypoints[wp1].x, waypoints[wp2].x); nav_survey_west = Min(waypoints[wp1].x, waypoints[wp2].x);
nav_survey_east = Max(waypoints[wp1].x, waypoints[wp2].x); nav_survey_east = Max(waypoints[wp1].x, waypoints[wp2].x);
nav_survey_south = Min(waypoints[wp1].y, waypoints[wp2].y); nav_survey_south = Min(waypoints[wp1].y, waypoints[wp2].y);