diff --git a/conf/messages.xml b/conf/messages.xml index b83b4ac517..f43f8e4c1c 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -1276,7 +1276,7 @@ - + @@ -1285,7 +1285,7 @@ - + @@ -1296,7 +1296,7 @@ - + @@ -1325,7 +1325,7 @@ - + @@ -1474,7 +1474,7 @@ - + diff --git a/conf/telemetry/csc.xml b/conf/telemetry/csc.xml index d0e1203e96..1b913e7332 100644 --- a/conf/telemetry/csc.xml +++ b/conf/telemetry/csc.xml @@ -3,7 +3,7 @@ - + diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml index 36de95539b..5340d21ec2 100644 --- a/conf/telemetry/telemetry_booz2.xml +++ b/conf/telemetry/telemetry_booz2.xml @@ -22,7 +22,7 @@ - + @@ -49,11 +49,11 @@ - + - - - + + + @@ -113,7 +113,7 @@ - + diff --git a/conf/telemetry/telemetry_jtm.xml b/conf/telemetry/telemetry_jtm.xml index 2798c506e8..2b1d290955 100644 --- a/conf/telemetry/telemetry_jtm.xml +++ b/conf/telemetry/telemetry_jtm.xml @@ -22,7 +22,7 @@ - + @@ -49,11 +49,11 @@ - + - - - + + + @@ -114,7 +114,7 @@ - + diff --git a/sw/airborne/booz/test/booz2_test_radio_control.c b/sw/airborne/booz/test/booz2_test_radio_control.c index 96251653a2..c467df0ab7 100644 --- a/sw/airborne/booz/test/booz2_test_radio_control.c +++ b/sw/airborne/booz/test/booz2_test_radio_control.c @@ -69,7 +69,7 @@ static inline void main_periodic_task( void ) { int16_t foo = 0;//RC_PPM_SIGNED_TICS_OF_USEC(2050-1500); RunOnceEvery(10, - {DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \ + {DOWNLINK_SEND_ROTORCRAFT_RADIO_CONTROL(DefaultChannel, \ &radio_control.values[RADIO_ROLL], \ &radio_control.values[RADIO_PITCH], \ &radio_control.values[RADIO_YAW], \ diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h index c37d025452..6f93528d76 100644 --- a/sw/airborne/firmwares/rotorcraft/telemetry.h +++ b/sw/airborne/firmwares/rotorcraft/telemetry.h @@ -101,15 +101,15 @@ extern uint8_t telemetry_mode_Main_DefaultChannel; #ifdef RADIO_CONTROL #define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, RADIO_CONTROL_NB_CHANNEL, radio_control.values) #if defined RADIO_KILL_SWITCH -#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) SEND_BOOZ2_RADIO_CONTROL( _chan, &radio_control.values[RADIO_KILL_SWITCH]) +#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_chan) SEND_ROTORCRAFT_RADIO_CONTROL( _chan, &radio_control.values[RADIO_KILL_SWITCH]) #else /* ! RADIO_KILL_SWITCH */ -#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) { \ +#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_chan) { \ int16_t foo = -42; \ - SEND_BOOZ2_RADIO_CONTROL( _chan, &foo) \ + SEND_ROTORCRAFT_RADIO_CONTROL( _chan, &foo) \ } #endif /* !RADIO_KILL_SWITCH */ -#define SEND_BOOZ2_RADIO_CONTROL(_chan, _kill_switch) { \ - DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(_chan, \ +#define SEND_ROTORCRAFT_RADIO_CONTROL(_chan, _kill_switch) { \ + DOWNLINK_SEND_ROTORCRAFT_RADIO_CONTROL(_chan, \ &radio_control.values[RADIO_ROLL], \ &radio_control.values[RADIO_PITCH], \ &radio_control.values[RADIO_YAW], \ @@ -119,7 +119,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel; &radio_control.status);} #else /* ! RADIO_CONTROL */ #define PERIODIC_SEND_RC(_chan) {} -#define PERIODIC_SEND_BOOZ2_RADIO_CONTROL(_chan) {} +#define PERIODIC_SEND_ROTORCRAFT_RADIO_CONTROL(_chan) {} #endif #ifdef RADIO_CONTROL_TYPE_PPM @@ -432,8 +432,8 @@ extern uint8_t telemetry_mode_Main_DefaultChannel; &ahrs.ltp_to_body_quat.qz); \ } -#define PERIODIC_SEND_BOOZ2_AHRS_QUAT(_chan) { \ - DOWNLINK_SEND_BOOZ2_AHRS_QUAT(_chan, \ +#define PERIODIC_SEND_AHRS_QUAT_INT(_chan) { \ + DOWNLINK_SEND_AHRS_QUAT_INT(_chan, \ &ahrs.ltp_to_imu_quat.qi, \ &ahrs.ltp_to_imu_quat.qx, \ &ahrs.ltp_to_imu_quat.qy, \ @@ -444,8 +444,8 @@ extern uint8_t telemetry_mode_Main_DefaultChannel; &ahrs.ltp_to_body_quat.qz); \ } -#define PERIODIC_SEND_BOOZ2_AHRS_EULER(_chan) { \ - DOWNLINK_SEND_BOOZ2_AHRS_EULER(_chan, \ +#define PERIODIC_SEND_AHRS_EULER_INT(_chan) { \ + DOWNLINK_SEND_AHRS_EULER_INT(_chan, \ &ahrs.ltp_to_imu_euler.phi, \ &ahrs.ltp_to_imu_euler.theta, \ &ahrs.ltp_to_imu_euler.psi, \ @@ -454,8 +454,8 @@ extern uint8_t telemetry_mode_Main_DefaultChannel; &ahrs.ltp_to_body_euler.psi); \ } -#define PERIODIC_SEND_BOOZ2_AHRS_RMAT(_chan) { \ - DOWNLINK_SEND_BOOZ2_AHRS_RMAT(_chan, \ +#define PERIODIC_SEND_AHRS_RMAT_INT(_chan) { \ + DOWNLINK_SEND_AHRS_RMAT(_chan, \ &ahrs.ltp_to_imu_rmat.m[0], \ &ahrs.ltp_to_imu_rmat.m[1], \ &ahrs.ltp_to_imu_rmat.m[2], \ diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c index bb04a7bfdf..a1acd5a394 100644 --- a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c +++ b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c @@ -40,7 +40,7 @@ gboolean timeout_callback(gpointer data) { #endif #if AHRS_TYPE == AHRS_TYPE_ICQ - IvySendMsg("183 BOOZ_AHRS_BIAS %d %d %d", + IvySendMsg("183 AHRS_GYRO_BIAS_INT %d %d %d", ahrs_impl.gyro_bias.p, ahrs_impl.gyro_bias.q, ahrs_impl.gyro_bias.r); @@ -48,7 +48,7 @@ gboolean timeout_callback(gpointer data) { #if AHRS_TYPE == AHRS_TYPE_FLQ || AHRS_TYPE == AHRS_TYPE_FCR2 struct Int32Rates bias_i; RATES_BFP_OF_REAL(bias_i, ahrs_impl.gyro_bias); - IvySendMsg("183 BOOZ_AHRS_BIAS %d %d %d", + IvySendMsg("183 AHRS_GYRO_BIAS_INT %d %d %d", bias_i.p, bias_i.q, bias_i.r); diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c index 81cffad371..91c9a1ce92 100644 --- a/sw/airborne/test/subsystems/test_ahrs.c +++ b/sw/airborne/test/subsystems/test_ahrs.c @@ -173,7 +173,7 @@ static inline void main_report(void) { #endif }, { - DOWNLINK_SEND_BOOZ2_AHRS_EULER(DefaultChannel, + DOWNLINK_SEND_AHRS_EULER_INT(DefaultChannel, &ahrs.ltp_to_imu_euler.phi, &ahrs.ltp_to_imu_euler.theta, &ahrs.ltp_to_imu_euler.psi, @@ -182,7 +182,7 @@ static inline void main_report(void) { &ahrs.ltp_to_body_euler.psi); }, { - DOWNLINK_SEND_BOOZ_AHRS_BIAS(DefaultChannel, + DOWNLINK_SEND_AHRS_GYRO_BIAS_INT(DefaultChannel, &ahrs_impl.gyro_bias.p, &ahrs_impl.gyro_bias.q, &ahrs_impl.gyro_bias.r); diff --git a/sw/airborne/test/subsystems/test_radio_control.c b/sw/airborne/test/subsystems/test_radio_control.c index 96251653a2..c467df0ab7 100644 --- a/sw/airborne/test/subsystems/test_radio_control.c +++ b/sw/airborne/test/subsystems/test_radio_control.c @@ -69,7 +69,7 @@ static inline void main_periodic_task( void ) { int16_t foo = 0;//RC_PPM_SIGNED_TICS_OF_USEC(2050-1500); RunOnceEvery(10, - {DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \ + {DOWNLINK_SEND_ROTORCRAFT_RADIO_CONTROL(DefaultChannel, \ &radio_control.values[RADIO_ROLL], \ &radio_control.values[RADIO_PITCH], \ &radio_control.values[RADIO_YAW], \ diff --git a/sw/in_progress/python/attitude_viz.py b/sw/in_progress/python/attitude_viz.py index 72458cb197..537172b75f 100755 --- a/sw/in_progress/python/attitude_viz.py +++ b/sw/in_progress/python/attitude_viz.py @@ -312,7 +312,7 @@ def init(): def run(): global VEHICLE_QUATS, BAR_VALUES VEHICLE_QUATS = [ ["AHRS_REF_QUAT", 6, "Estimate", True], ["AHRS_REF_QUAT", 2, "Reference", True]] - BAR_VALUES = [ ["BOOZ2_RADIO_CONTROL", 5, "Throttle (%%) %i", 9600, 96 * 2, 100] ] + BAR_VALUES = [ ["ROTORCRAFT_RADIO_CONTROL", 5, "Throttle (%%) %i", 9600, 96 * 2, 100] ] window_title = "Attitude_Viz" try: opts, args = getopt.getopt(sys.argv[1:], "t:", ["title"])