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rotorcraft: handle_periodic_tasks to check all sys_time timer

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- nps: use new systime
- nps: renamed nps_autopilot_booz to nps_autopilot_rotorcraft
This commit is contained in:
Felix Ruess
2012-02-13 20:40:22 +01:00
parent cc07ac890e
commit ef76c8a866
10 changed files with 39 additions and 32 deletions
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conf/Makefile.sim
+1 -6
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@@ -56,15 +56,10 @@ CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(LOCAL_CFLAGS)
CFLAGS += -O2
CFLAGS += -std=gnu99
# meschach prototypes trigger numerous warnings
ifneq ($(SIM_TYPE),BOOZ)
ifneq ($(SIM_TYPE),JSBSIM)
CFLAGS += -Wstrict-prototypes
CFLAGS += -std=gnu99
endif
endif
LDFLAGS = -lm
conf/autopilot/rotorcraft.makefile
+2 -2
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@@ -50,7 +50,7 @@ ap.srcs += $(SRC_ARCH)/mcu_arch.c
#
# Math functions
#
$(TARGET).srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
ifeq ($(ARCH), stm32)
ap.srcs += lisa/plug_sys.c
@@ -77,7 +77,7 @@ endif
ifndef PERIODIC_FREQUENCY
PERIODIC_FREQUENCY = 512
endif
$(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
ap.CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
#
# Systime
#
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+4 -4
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@@ -51,7 +51,7 @@ sim.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_radio_control.c \
$(NPSDIR)/nps_radio_control_joystick.c \
$(NPSDIR)/nps_radio_control_spektrum.c \
$(NPSDIR)/nps_autopilot_booz.c \
$(NPSDIR)/nps_autopilot_rotorcraft.c \
$(NPSDIR)/nps_ivy.c \
$(NPSDIR)/nps_flightgear.c \
@@ -68,7 +68,7 @@ ifeq ($(TARGET), sim)
endif
sim.CFLAGS += -DPERIODIC_FREQUENCY='512.'
sim.CFLAGS += -DPERIODIC_FREQUENCY=512
#sim.CFLAGS += -DUSE_LED
sim.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
@@ -85,9 +85,9 @@ sim.srcs += $(SRC_FIRMWARE)/commands.c
sim.srcs += $(SRC_FIRMWARE)/datalink.c
#
# Math functions
#
#
sim.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
sim.CFLAGS += -DROTORCRAFT_BARO_LED=2
sim.srcs += $(SRC_BOARD)/baro_board.c
conf/settings/settings_booz2_sim.xml
+1 -1
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@@ -4,7 +4,7 @@
<dl_settings>
<dl_settings NAME="Sim">
<dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot_booz" shortname="bypass_ahrs" values="No|Yes"/>
<dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot_rotorcraft" shortname="bypass_ahrs" values="No|Yes"/>
</dl_settings>
</dl_settings>