diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index c1682f0477..e2b56fee2e 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -18,7 +18,7 @@
-
+
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 345cdd9621..fba35240c5 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -22,7 +22,7 @@
-
+
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
index 521d7c87ce..68932d5be5 100644
--- a/conf/airframes/ENAC/quadrotor/g1_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -231,8 +231,8 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#ap.CFLAGS += -DR_POS=0.1
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
ap.CFLAGS += -DUSE_MODULES
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index 38269d5b50..a6b2c25f04 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -147,7 +147,7 @@ main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-# -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ
+# -DACTUATORS_START_DELAY=3 -DUSE_TIM2_IRQ
main_stm32.CFLAGS += -DUSE_I2C1
main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index 44d7782f14..15ffcdb95d 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -170,7 +170,7 @@
-
+
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index 1a5c088e1c..31b0af59cb 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -274,7 +274,7 @@ second attempt
-
+
@@ -347,7 +347,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
-->
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index bcef6ccc71..4ebdbf2413 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -232,7 +232,7 @@
-
+
@@ -296,7 +296,7 @@ ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
-->
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index e00eac3141..f8446929bf 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -250,7 +250,7 @@ ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 3ea1b957b4..546d015842 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -306,7 +306,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
index 2634c9c3f1..09bf631aa1 100644
--- a/conf/airframes/esden/jt_lisam.xml
+++ b/conf/airframes/esden/jt_lisam.xml
@@ -176,7 +176,7 @@
-
+
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 50c0a66790..e00bf16a4d 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -184,7 +184,7 @@
-
+
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
index 66ff357bd1..fdea5ecbee 100644
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -186,7 +186,7 @@
-
+
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
index 57a8443969..6dbea24cb1 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/lisa_m_pwm.xml
@@ -206,7 +206,7 @@
-
+
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
index 2a6bea0249..b5e9abee04 100644
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -181,7 +181,7 @@
-
+
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index acf1337d7d..f630d42b56 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -184,7 +184,7 @@
-
+
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index c414b3214b..6912505ab7 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -187,7 +187,7 @@
-
+
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index 86d5481083..fd33599793 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index 99f676ffc5..2b7b60e259 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index 2b74d58c71..120dbf3428 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -249,7 +249,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index c0b602915b..8b11977485 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -29,7 +29,7 @@ void actuators_init(void) {
#endif
actuators_asctec.nb_err = 0;
-#if defined BOOZ_START_DELAY && ! defined SITL
+#if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
#else
@@ -45,9 +45,9 @@ void actuators_init(void) {
#ifndef ACTUATORS_ASCTEC_V2_PROTOCOL
void actuators_set(bool_t motors_on) {
-#if defined BOOZ_START_DELAY && ! defined SITL
+#if defined ACTUATORS_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
- if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(BOOZ_START_DELAY)) return;
+ if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(ACTUATORS_START_DELAY)) return;
else actuators_delay_done = TRUE;
}
#endif
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index b9d7a04b98..b9c3dc8211 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -46,7 +46,7 @@ void actuators_init(void) {
actuators_mkk.trans[i].status = I2CTransSuccess;
}
-#if defined BOOZ_START_DELAY && ! defined SITL
+#if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
#else
@@ -58,9 +58,9 @@ void actuators_init(void) {
void actuators_set(bool_t motors_on) {
-#if defined BOOZ_START_DELAY && ! defined SITL
+#if defined ACTUATORS_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
- if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(BOOZ_START_DELAY)) return;
+ if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(ACTUATORS_START_DELAY)) return;
else actuators_delay_done = TRUE;
}
#endif
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
index fe6a806195..c46397e251 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
@@ -45,7 +45,7 @@ void actuators_init(void) {
actuators_skiron.actuators_idx[i] = actuators_idx[i];
}
-#if defined BOOZ_START_DELAY && ! defined SITL
+#if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
#else
@@ -56,9 +56,9 @@ void actuators_init(void) {
}
void actuators_set(bool_t motors_on) {
-#if defined BOOZ_START_DELAY && ! defined SITL
+#if defined ACTUATORS_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
- if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(BOOZ_START_DELAY)) return;
+ if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(ACTUATORS_START_DELAY)) return;
else actuators_delay_done = TRUE;
}
#endif