diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml index 45605c57bf..f825a0e4df 100644 --- a/conf/airframes/BR/bebop_default.xml +++ b/conf/airframes/BR/bebop_default.xml @@ -27,7 +27,6 @@ - diff --git a/conf/airframes/TUDelft/airframes/bebop_indi_frog.xml b/conf/airframes/TUDelft/airframes/bebop_indi_frog.xml new file mode 100644 index 0000000000..81268bd6d7 --- /dev/null +++ b/conf/airframes/TUDelft/airframes/bebop_indi_frog.xml @@ -0,0 +1,254 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ diff --git a/conf/airframes/TUDelft/conf.xml b/conf/airframes/TUDelft/conf.xml index 36006e1dd3..74edb1100e 100644 --- a/conf/airframes/TUDelft/conf.xml +++ b/conf/airframes/TUDelft/conf.xml @@ -142,6 +142,17 @@ settings_modules="modules/geo_mag.xml modules/air_data.xml" gui_color="blue" /> + - - + + diff --git a/conf/modules/exception_flags.xml b/conf/modules/exception_flags.xml deleted file mode 100644 index 50465e3974..0000000000 --- a/conf/modules/exception_flags.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - Enables using exception flasg in the flight plan, to prevent them from triggering more than once - - -
- -
- - - - - diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c index 3b6874dcee..a33434129e 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.c +++ b/sw/airborne/firmwares/rotorcraft/navigation.c @@ -66,6 +66,8 @@ float failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE; float dist2_to_home; bool_t too_far_from_home; +bool_t exception_flag[10] = {0}; //exception flags that can be used in the flight plan + float dist2_to_wp; uint8_t horizontal_mode; @@ -114,6 +116,10 @@ static inline void nav_set_altitude(void); #if PERIODIC_TELEMETRY #include "subsystems/datalink/telemetry.h" +void set_exception_flag(uint8_t flag_num) { + exception_flag[flag_num] = 1; +} + static void send_nav_status(struct transport_tx *trans, struct link_device *dev) { float dist_home = sqrtf(dist2_to_home); diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h index fe5d6c6d74..dd3091a40d 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.h +++ b/sw/airborne/firmwares/rotorcraft/navigation.h @@ -87,6 +87,9 @@ void nav_periodic_task(void); bool_t nav_detect_ground(void); bool_t nav_is_in_flight(void); +extern bool_t exception_flag[10]; +extern void set_exception_flag(uint8_t flag_num); + extern bool_t nav_set_heading_rad(float rad); extern bool_t nav_set_heading_deg(float deg); extern bool_t nav_set_heading_towards(float x, float y); diff --git a/sw/airborne/modules/exception_flags/exception_flags.c b/sw/airborne/modules/exception_flags/exception_flags.c deleted file mode 100644 index 6830bb9a40..0000000000 --- a/sw/airborne/modules/exception_flags/exception_flags.c +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Copyright (C) 2015 Ewoud Smeur - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -/** - * @file modules/exception_flags/exception_flags.c - * @brief Flags to check if flight plan exceptions already triggered - */ - -#include "exception_flags.h" -#include - -bool_t exception_flag[10]; - -void exception_flags_init(void) { - memset(exception_flag,0,sizeof(exception_flag)); -} - -void check_exception_flag(uint8_t flag_num) { - exception_flag[flag_num] = 1; -} \ No newline at end of file diff --git a/sw/airborne/modules/exception_flags/exception_flags.h b/sw/airborne/modules/exception_flags/exception_flags.h deleted file mode 100644 index 1e62abd8d4..0000000000 --- a/sw/airborne/modules/exception_flags/exception_flags.h +++ /dev/null @@ -1,38 +0,0 @@ -/* - * Copyright (C) 2015 Ewoud Smeur - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -/** - * @file modules/exception_flags/exception_flags.h - * @brief Flags to check if flight plan exceptions already triggered - */ - -#include "std.h" - -#ifndef EXCEPTION_FLAGS_H_ -#define EXCEPTION_FLAGS_H_ - -extern void exception_flags_init(void); -extern void check_exception_flag(uint8_t flag_num); - -extern bool_t exception_flag[10]; - -#endif /* EXCEPTION_FLAGS_H_ */ \ No newline at end of file