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renamed BOOZ_START_DELAY to ACTUATORS_START_DELAY and updated airframe files accordingly

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This commit is contained in:
Felix Ruess
2011-12-06 20:22:53 +01:00
parent 939dd78a6f
commit dc81b4bdf6
22 changed files with 31 additions and 31 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -18,7 +18,7 @@
<target name="ap" board="booz_1.0"> <target name="ap" board="booz_1.0">
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/> <define name="ACTUATORS_START_DELAY" value="3"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -22,7 +22,7 @@
<target name="ap" board="booz_1.0"> <target name="ap" board="booz_1.0">
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/> <define name="ACTUATORS_START_DELAY" value="3"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+2 -2
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@@ -231,8 +231,8 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile #include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#ap.CFLAGS += -DR_POS=0.1 #ap.CFLAGS += -DR_POS=0.1
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
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
ap.CFLAGS += -DUSE_MODULES ap.CFLAGS += -DUSE_MODULES
conf/airframes/Poine/beth.xml
+1 -1
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@@ -147,7 +147,7 @@ main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\ #\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c # $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 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.CFLAGS += -DUSE_I2C1
main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/airframes/Poine/h_hex.xml
+1 -1
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@@ -170,7 +170,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"> <target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
</target> </target>
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+2 -2
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@@ -274,7 +274,7 @@ second attempt
<define name="RADIO_KILL_SWITCH" value="4"/> <define name="RADIO_KILL_SWITCH" value="4"/>
<define name="MODEM_BAUD" value = "B57600"/> <define name="MODEM_BAUD" value = "B57600"/>
<define name="GPS_LAG" value = "0.8"/> <define name="GPS_LAG" value = "0.8"/>
<define name="BOOZ_START_DELAY" value = "3"/> <define name="ACTUATORS_START_DELAY" value = "3"/>
<!-- <define name="KILL_MOTORS"/> --> <!-- <define name="KILL_MOTORS"/> -->
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" /> <define name="USE_GPS_ACC4R" />
@@ -347,7 +347,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
--> -->
conf/airframes/UofAdelaide/A1000_NOVA.xml
+2 -2
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@@ -232,7 +232,7 @@
<configure name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example--> <configure name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/> <define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/> <define name="MODEM_BAUD" value = "B57600"/>
<define name="BOOZ_START_DELAY" value = "3"/> <define name="ACTUATORS_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/> <define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> --> <!-- <define name="KILL_MOTORS"/> -->
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
@@ -296,7 +296,7 @@ ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R #-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
--> -->
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+1 -1
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@@ -250,7 +250,7 @@ ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R #-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
conf/airframes/UofAdelaide/booz2_a1000.xml
+1 -1
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@@ -306,7 +306,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
conf/airframes/esden/jt_lisam.xml
+1 -1
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@@ -176,7 +176,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0"> <target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_asctec.xml
+1 -1
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@@ -184,7 +184,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec_v2"/> <subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_asctec_aspirin.xml
+1 -1
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@@ -186,7 +186,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec_v2"/> <subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_m_pwm.xml
+1 -1
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@@ -206,7 +206,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0"> <target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_pwm_aspirin.xml
+1 -1
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@@ -181,7 +181,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/synerani_4B.xml
+1 -1
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@@ -184,7 +184,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/mm/rotor/qmk1.xml
+1 -1
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@@ -187,7 +187,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"> <target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
</target> </target>
conf/airframes/obsolete/booz2_NoVa.xml
+1 -1
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@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
conf/airframes/obsolete/booz2_NoVa_001.xml
+1 -1
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@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
conf/airframes/obsolete/booz2_NoVa_002.xml
+1 -1
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@@ -249,7 +249,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG 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
</makefile> </makefile>
sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+3 -3
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@@ -29,7 +29,7 @@ void actuators_init(void) {
#endif #endif
actuators_asctec.nb_err = 0; actuators_asctec.nb_err = 0;
#if defined BOOZ_START_DELAY && ! defined SITL #if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_delay_done = FALSE; actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time); SysTimeTimerStart(actuators_delay_time);
#else #else
@@ -45,9 +45,9 @@ void actuators_init(void) {
#ifndef ACTUATORS_ASCTEC_V2_PROTOCOL #ifndef ACTUATORS_ASCTEC_V2_PROTOCOL
void actuators_set(bool_t motors_on) { 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 (!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; else actuators_delay_done = TRUE;
} }
#endif #endif
sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+3 -3
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@@ -46,7 +46,7 @@ void actuators_init(void) {
actuators_mkk.trans[i].status = I2CTransSuccess; actuators_mkk.trans[i].status = I2CTransSuccess;
} }
#if defined BOOZ_START_DELAY && ! defined SITL #if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_delay_done = FALSE; actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time); SysTimeTimerStart(actuators_delay_time);
#else #else
@@ -58,9 +58,9 @@ void actuators_init(void) {
void actuators_set(bool_t motors_on) { 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 (!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; else actuators_delay_done = TRUE;
} }
#endif #endif
sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
+3 -3
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@@ -45,7 +45,7 @@ void actuators_init(void) {
actuators_skiron.actuators_idx[i] = actuators_idx[i]; 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; actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time); SysTimeTimerStart(actuators_delay_time);
#else #else
@@ -56,9 +56,9 @@ void actuators_init(void) {
} }
void actuators_set(bool_t motors_on) { 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 (!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; else actuators_delay_done = TRUE;
} }
#endif #endif