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[telemetry] fix some remaining telemetry messages

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This commit is contained in:
Gautier Hattenberger
2013-11-04 10:52:43 +01:00
parent 7d87b888a8
commit e3830578fb
4 changed files with 19 additions and 28 deletions
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conf/messages.xml
+3 -6
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@@ -1298,16 +1298,13 @@
</message>
<message name="ROTORCRAFT_TUNE_HOVER" id="150">
<field name="rc_roll" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_pitch" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_yaw" type="int16" alt_unit="-100/100" alt_unit_coef="0.01041670"/>
<field name="rc_roll" type="int16"/>
<field name="rc_pitch" type="int16"/>
<field name="rc_yaw" type="int16"/>
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="cmd_thrust" type="int32"/>
<field name="imu_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="imu_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="imu_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_phi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_theta" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
<field name="body_psi" type="int32" alt_unit="deg" alt_unit_coef="0.0139882"/>
conf/telemetry/default_rotorcraft.xml
+1 -1
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@@ -126,7 +126,7 @@
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ALIVE" period="2.1"/>
<message name="GUIDANCE_H_INT" period="0.05"/>
<!--<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>-->
<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>
<!-- <message name="GPS_INT" period=".20"/> -->
<!--<message name="INS2" period=".05"/>
<message name="INS3" period=".20"/>-->
sw/airborne/firmwares/fixedwing/datalink.c
+1 -2
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@@ -139,8 +139,7 @@ void dl_parse_msg(void) {
DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
} else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) {
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
// FIXME
//SEND_NAVIGATION(DefaultChannel, DefaultDevice);
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
} else
#endif /** NAV */
#ifdef WIND_INFO
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+14 -19
View File
@@ -139,25 +139,19 @@ static void send_href(void) {
&guidance_h_speed_ref.y, &guidance_h_accel_ref.y);
}
// FIXME no idea where to put this one
//#ifndef AHRS_FLOAT
//#define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(DefaultChannel, DefaultDevice) {
// DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(DefaultChannel, DefaultDevice,
// &radio_control.values[RADIO_ROLL],
// &radio_control.values[RADIO_PITCH],
// &radio_control.values[RADIO_YAW],
// &stabilization_cmd[COMMAND_ROLL],
// &stabilization_cmd[COMMAND_PITCH],
// &stabilization_cmd[COMMAND_YAW],
// &stabilization_cmd[COMMAND_THRUST],
// &ahrs_impl.ltp_to_imu_euler.phi,
// &ahrs_impl.ltp_to_imu_euler.theta,
// &ahrs_impl.ltp_to_imu_euler.psi,
// &(stateGetNedToBodyEulers_i()->phi),
// &(stateGetNedToBodyEulers_i()->theta),
// &(stateGetNedToBodyEulers_i()->psi));
//}
//#endif
static void send_tune_hover(void) {
DOWNLINK_SEND_ROTORCRAFT_TUNE_HOVER(DefaultChannel, DefaultDevice,
&radio_control.values[RADIO_ROLL],
&radio_control.values[RADIO_PITCH],
&radio_control.values[RADIO_YAW],
&stabilization_cmd[COMMAND_ROLL],
&stabilization_cmd[COMMAND_PITCH],
&stabilization_cmd[COMMAND_YAW],
&stabilization_cmd[COMMAND_THRUST],
&(stateGetNedToBodyEulers_i()->phi),
&(stateGetNedToBodyEulers_i()->theta),
&(stateGetNedToBodyEulers_i()->psi));
}
#endif
@@ -182,6 +176,7 @@ void guidance_h_init(void) {
register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_INT", send_gh);
register_periodic_telemetry(DefaultPeriodic, "HOVER_LOOP", send_hover_loop);
register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_REF", send_href);
register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_TUNE_HOVER", send_tune_hover);
#endif
}