contrast calibration removed

conf/airframes/microjetI.xml

@@ -54,11 +54,7 @@
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
 
-    <!-- A supprimer -->
-       <define name="DEFAULT_CONTRAST" value="200"/>
-       <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
-       <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
-       <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+    <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
 
     <linear name="RollOfIrs" arity="2" coeff1="1" coeff2="-1"/>
     <linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>

sw/airborne/infrared.c

@@ -139,16 +139,17 @@ float ir_360_vertical_correction;
  *  Initialize \a adc_buf_channel
  */
 void ir_init(void) {
-  RadOfIrFromContrast(IR_DEFAULT_CONTRAST);
 #ifndef SITL
   adc_buf_channel(ADC_CHANNEL_IR1, &buf_ir1, ADC_CHANNEL_IR_NB_SAMPLES);
   adc_buf_channel(ADC_CHANNEL_IR2, &buf_ir2, ADC_CHANNEL_IR_NB_SAMPLES);
 #endif
+
 #ifdef ADC_CHANNEL_IR_TOP
   adc_buf_channel(ADC_CHANNEL_IR_TOP, &buf_ir_top, ADC_CHANNEL_IR_NB_SAMPLES);
   z_contrast_mode = Z_CONTRAST_DEFAULT;
 #else
   z_contrast_mode = 0;
+  RadOfIrFromContrast(IR_DEFAULT_CONTRAST);
 #endif
  
   ir_roll_neutral  = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT);
@@ -172,13 +173,14 @@ void ir_init(void) {
   ir_estimated_theta_pi_4 = IR_ESTIMATED_THETA_PI_4;
   ir_estimated_theta_minus_pi_4 = IR_ESTIMATED_THETA_MINUS_PI_4;
 
-  ir_contrast = IR_DEFAULT_CONTRAST;
-  ir_rad_of_ir = IR_RAD_OF_IR_CONTRAST / IR_DEFAULT_CONTRAST;
-
   ir_360_lateral_correction = IR_360_LATERAL_CORRECTION;
   ir_360_longitudinal_correction = IR_360_LONGITUDINAL_CORRECTION;
   ir_360_vertical_correction = IR_360_VERTICAL_CORRECTION;
 
+#ifndef ADC_CHANNEL_IR_TOP
+  ir_contrast = IR_DEFAULT_CONTRAST;
+  ir_rad_of_ir = IR_RAD_OF_IR_CONTRAST / IR_DEFAULT_CONTRAST;
+#endif
 }
 
 /** \brief Update \a ir_roll and ir_pitch from ADCs or from simulator
@@ -201,6 +203,10 @@ void ir_update(void) {
 /** #else ir_roll set by simulator in sim_ir.c */
 }
 
+
+uint8_t calib_status = NO_CALIB;
+
+#ifndef ADC_CHANNEL_IR_TOP
 /** \brief Contrast measurement
  *  \note <b>Plane must be nose down !</b>
  */
@@ -214,8 +220,6 @@ static void ir_gain_calib(void) {
 		After, no more calibration is possible */
 #define MAX_DELAY_FOR_CALIBRATION 10
 
-uint8_t calib_status = NO_CALIB;
-
 /** \brief Calibrate contrast if paparazzi mode is
  * set to auto1 before MAX_DELAY_FOR_CALIBRATION secondes */
 /**User must put verticaly the uav (nose bottom) and push
@@ -242,6 +246,7 @@ void ground_calibrate( bool_t triggered ) {
     break;
   }
 }
+#endif /* !ADC_CHANNEL_IR_TOP */
 
 #define INIT_WEIGHT 100. /* The number of times the initial value has to be taken */
 #define RHO 0.995 /* The higher, the slower the estimation is changing */

sw/airborne/main_ap.c

@@ -295,17 +295,19 @@ inline void telecommand_task( void ) {
   if ( mode_changed )
     PERIODIC_SEND_PPRZ_MODE();
   
-  /** If Auto1 mode, compute \a desired_roll and \a desired_pitch from 
+  /** In AUTO1 mode, compute roll setpoint and pitch setpoint from 
    * \a RADIO_ROLL and \a RADIO_PITCH \n
-   * Else asynchronously set by \a course_pid_run
    */
   if (pprz_mode == PPRZ_MODE_AUTO1) {
-    /** In Auto1 mode, roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL] */
+    /** Roll is bounded between [-AUTO1_MAX_ROLL;AUTO1_MAX_ROLL] */
     h_ctl_roll_setpoint = FLOAT_OF_PPRZ(fbw_state->channels[RADIO_ROLL], 0., -AUTO1_MAX_ROLL);
     
-    /** In Auto1 mode, pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH] */
+    /** Pitch is bounded between [-AUTO1_MAX_PITCH;AUTO1_MAX_PITCH] */
     h_ctl_pitch_setpoint = FLOAT_OF_PPRZ(fbw_state->channels[RADIO_PITCH], 0., AUTO1_MAX_PITCH);
-  }
+  } /** Else asynchronously set by \a h_ctl_course_loop() */
+
+  /** In AUTO1, throttle comes from RADIO_THROTTLE
+      In MANUAL, the value is copied to get it in the telemetry */
   if (pprz_mode == PPRZ_MODE_MANUAL || pprz_mode == PPRZ_MODE_AUTO1) {
     v_ctl_throttle_setpoint = fbw_state->channels[RADIO_THROTTLE];
   }
@@ -317,7 +319,7 @@ inline void telecommand_task( void ) {
   events_update();
   
   if (!estimator_flight_time) {
-#ifdef INFRARED
+#if defined INFRARED && !ADC_CHANNEL_IR_TOP
     ground_calibrate(STICK_PUSHED(fbw_state->channels[RADIO_ROLL]));
 #endif
     if (pprz_mode == PPRZ_MODE_AUTO2 && fbw_state->channels[RADIO_THROTTLE] > THROTTLE_THRESHOLD_TAKEOFF) {