Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 06:54:49 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

[rotorcraft] rename autopilot_detect_ground to autopilot_ground_detected

Browse Source
This commit is contained in:
Felix Ruess
2013-09-05 18:07:59 +02:00
parent cecb952aca
commit d2e05e51f0
3 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/autopilot.c
+4 -4
View File
@@ -49,7 +49,7 @@ bool_t kill_throttle;
bool_t autopilot_rc; bool_t autopilot_rc;
bool_t autopilot_power_switch; bool_t autopilot_power_switch;
bool_t autopilot_detect_ground; bool_t autopilot_ground_detected;
bool_t autopilot_detect_ground_once; bool_t autopilot_detect_ground_once;
#define AUTOPILOT_IN_FLIGHT_TIME 20 #define AUTOPILOT_IN_FLIGHT_TIME 20
@@ -105,7 +105,7 @@ void autopilot_init(void) {
autopilot_in_flight = FALSE; autopilot_in_flight = FALSE;
autopilot_in_flight_counter = 0; autopilot_in_flight_counter = 0;
autopilot_mode_auto2 = MODE_AUTO2; autopilot_mode_auto2 = MODE_AUTO2;
autopilot_detect_ground = FALSE; autopilot_ground_detected = FALSE;
autopilot_detect_ground_once = FALSE; autopilot_detect_ground_once = FALSE;
autopilot_flight_time = 0; autopilot_flight_time = 0;
autopilot_rc = TRUE; autopilot_rc = TRUE;
@@ -131,9 +131,9 @@ void autopilot_periodic(void) {
RunOnceEvery(NAV_PRESCALER, nav_periodic_task()); RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
#if FAILSAFE_GROUND_DETECT #if FAILSAFE_GROUND_DETECT
INFO("Using FAILSAFE_GROUND_DETECT") INFO("Using FAILSAFE_GROUND_DETECT")
if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) { if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_ground_detected) {
autopilot_set_mode(AP_MODE_KILL); autopilot_set_mode(AP_MODE_KILL);
autopilot_detect_ground = FALSE; autopilot_ground_detected = FALSE;
} }
#endif #endif
sw/airborne/firmwares/rotorcraft/autopilot.h
+2 -2
View File
@@ -69,7 +69,7 @@ extern void autopilot_set_mode(uint8_t new_autopilot_mode);
extern void autopilot_set_motors_on(bool_t motors_on); extern void autopilot_set_motors_on(bool_t motors_on);
extern void autopilot_check_in_flight(bool_t motors_on); extern void autopilot_check_in_flight(bool_t motors_on);
extern bool_t autopilot_detect_ground; extern bool_t autopilot_ground_detected;
extern bool_t autopilot_detect_ground_once; extern bool_t autopilot_detect_ground_once;
extern uint16_t autopilot_flight_time; extern uint16_t autopilot_flight_time;
@@ -152,7 +152,7 @@ static inline void DetectGroundEvent(void) {
struct NedCoor_f* accel = stateGetAccelNed_f(); struct NedCoor_f* accel = stateGetAccelNed_f();
if (accel->z < -THRESHOLD_GROUND_DETECT || if (accel->z < -THRESHOLD_GROUND_DETECT ||
accel->z > THRESHOLD_GROUND_DETECT) { accel->z > THRESHOLD_GROUND_DETECT) {
autopilot_detect_ground = TRUE; autopilot_ground_detected = TRUE;
autopilot_detect_ground_once = FALSE; autopilot_detect_ground_once = FALSE;
} }
} }
sw/airborne/firmwares/rotorcraft/navigation.c
+2 -2
View File
@@ -336,8 +336,8 @@ void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int
} }
bool_t nav_detect_ground(void) { bool_t nav_detect_ground(void) {
if (!autopilot_detect_ground) return FALSE; if (!autopilot_ground_detected) return FALSE;
autopilot_detect_ground = FALSE; autopilot_ground_detected = FALSE;
return TRUE; return TRUE;
} }