iavr code compiles

conf/airframes/gorrazoptere_esc_3DMG.xml

@@ -61,9 +61,19 @@
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="YAW"      failsafe_value="0"/>
+    <axis name="PHI"      failsafe_value="0"/>
+    <axis name="THETA"    failsafe_value="0"/>
+    <axis name="PSI"      failsafe_value="0"/>
   </commands>
 
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="PHI" value="@ROLL"/>
+    <set command="THETA" value="@PITCH"/>
+    <set command="PSI" value="@YAW"/>
+  </rc_commands>
+
   <command_laws>
     <let var="roll"     value="0.3  * @ROLL"/>
     <let var="pitch"    value="0.3  * @PITCH"/>

conf/airframes/twinstar1.xml

@@ -23,12 +23,12 @@
     <axis name="YAW"    failsafe_value="0"/>
   </commands>
 
-  <radio_laws>
+  <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
     <set command="ROLL" value="@ROLL"/>
     <set command="PITCH" value="@PITCH"/>
     <set command="YAW" value="@YAW"/>
-  </radio_laws>
+  </rc_commands>
 
   <command_laws>
     <set servo="GAZ" value="2 * @THROTTLE"/>

conf/airframes/twinstar2.xml

@@ -22,6 +22,13 @@
     <axis name="CAM_PITCH" failsafe_value="0"/>
   </commands>
 
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="YAW" value="@YAW"/>
+  </rc_commands>
+
   <command_laws>
     <set servo="GAZ" value="2 * @THROTTLE"/>
     <set servo="ELEVATOR" value="@PITCH"/>

conf/airframes/twinstar5.xml

@@ -15,13 +15,17 @@
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
     <axis name="YAW"    failsafe_value="0"/>
-    <axis name="MODE"    failsafe_value="0"/>
-    <axis name="GAIN1"    failsafe_value="0"/>
-    <axis name="GAIN2"    failsafe_value="0"/>
-    <axis name="SWITCH1"    failsafe_value="0"/>
-    <axis name="CALIB"    failsafe_value="0"/>
+    <axis name="CAM_ROLL" failsafe_value="0"/>
+    <axis name="CAM_PITCH" failsafe_value="0"/>
   </commands>
 
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="YAW" value="@YAW"/>
+  </rc_commands>
+
   <command_laws>
     <set servo="GAZ" value="2 * @THROTTLE"/>
     <set servo="ELEVATOR" value="@PITCH"/>
@@ -29,8 +33,8 @@
     <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
     <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
     <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-    <set servo="CAM_ROLL" value="@GAIN1"/>
-    <set servo="CAM_PITCH" value="@CALIB"/>
+    <set servo="CAM_ROLL" value="@CAM_ROLL"/>
+    <set servo="CAM_PITCH" value="@CAM_PITCH"/>
   </command_laws>
 
   <section name="MIXER">

sw/airborne/arm7/servos_4015_hw.c

@@ -1,3 +1,4 @@
+#include "servos_4015_hw.h"
 #include "command.h"
 #include "armVIC.h"
 

sw/airborne/avr/link_mcu_ap.c

@@ -89,7 +89,7 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
     /* notify valid frame                   */
     if (crc_in1 == Crc1(crc_in) && tmp == Crc2(crc_in)) {
       from_fbw_receive_valid = TRUE;
-      link_fbw_fbw_nb_err = from_fbw.nb_err;
+      link_fbw_fbw_nb_err = from_fbw.from_fbw.nb_err;
     } else
       link_fbw_nb_err++;
     /* unselect slave0                      */
@@ -110,7 +110,7 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
   /* we are sending/receiving payload       */
   if (idx_buf < FRAME_LENGTH - 2) {
     /* place new payload byte in send register */
-    tmp = ((uint8_t*)&from_ap)[idx_buf];
+    tmp = ((uint8_t*)&from_ap.from_ap)[idx_buf];
     SPI_SEND(tmp);
     crc_out = CrcUpdate(crc_out, tmp);
   } 
@@ -123,6 +123,6 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
   
   /* read the byte from receive register */
   tmp = SPDR;
-  ((uint8_t*)&from_fbw)[idx_buf-1] = tmp;
+  ((uint8_t*)&from_fbw.from_fbw)[idx_buf-1] = tmp;
   crc_in = CrcUpdate(crc_in, tmp);
 }

sw/airborne/main_fbw.c

@@ -137,7 +137,10 @@ static inline void radio_control_task(void) {
     pitch_dot_pgain = roll_dot_pgain;
     pitch_dot_dgain = roll_dot_dgain;
 #endif
-    commands_of_radio(rc_values);
+
+    pprz_t commands[COMMANDS_NB];
+    CommandsOfRC(commands);
+    command_set(commands);
   }
 }
 
@@ -163,7 +166,6 @@ void init_fbw( void ) {
   adc_init();
   adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf);
 #if defined IMU_3DMG || defined IMU_ANALOG
-  CounterLedInit();
   imu_init();
 #endif
   sys_time_init();

sw/tools/gen_airframe.ml

@@ -82,8 +82,8 @@ let parse_servo = fun c ->
 let pprz_value = Str.regexp "@\\([A-Z_0-9]+\\)"
 
 let var_value = Str.regexp "\\$\\([_a-z0-9]+\\)"
-let preprocess_command = fun s ->
-  let s = Str.global_replace pprz_value "values[COMMAND_\\1]" s in
+let preprocess_value = fun s v ->
+  let s = Str.global_replace pprz_value (sprintf "%s[COMMAND_\\1]" v) s in
   Str.global_replace var_value "_var_\\1" s
 
 let parse_command_laws = fun command ->
@@ -92,7 +92,7 @@ let parse_command_laws = fun command ->
      "set" ->
        let servo = a "servo"
        and value = a "value" in
-       let v = preprocess_command value in
+       let v = preprocess_value value "values" in
        printf "  command_value = %s;\\\n" v;
        printf "  command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP : SERVO_%s_TRAVEL_DOWN;\\\n" servo servo;
        printf "  servo_value = SERVO_%s_NEUTRAL + (int16_t)(command_value);\\\n" servo;
@@ -100,25 +100,25 @@ let parse_command_laws = fun command ->
    | "let" ->
        let var = a "var"
        and value = a "value" in
-       let v = preprocess_command value in
+       let v = preprocess_value value "values" in
        printf "  int16_t _var_%s = %s;\\\n" var v 
    | "define" ->
        parse_element "" command
    | _ -> xml_error "set|let"
 
 
-let parse_radio_laws = fun rc ->
+let parse_rc_commands = fun rc ->
   let a = fun s -> ExtXml.attrib rc s in
   match Xml.tag rc with
     "set" ->
       let com = a "command"
       and value = a "value" in
-      let v = preprocess_command value in
-      printf "  values[COMMAND_%s] = %s;\\\n" com v;
+      let v = preprocess_value value "rc_values" in
+      printf "  commands[COMMAND_%s] = %s;\\\n" com v;
    | "let" ->
        let var = a "var"
        and value = a "value" in
-       let v = preprocess_command value in
+       let v = preprocess_value value "rc_values" in
        printf "  int16_t _var_%s = %s;\\\n" var v 
    | "define" ->
        parse_element "" rc
@@ -154,9 +154,9 @@ let parse_section = fun s ->
       let commands_params = Array.to_list commands_params in
       define "COMMANDS_FAILSAFE" (sprint_float_array (List.map (fun x -> string_of_int x.failsafe_value) commands_params));
       nl (); nl ()
-  | "radio_laws" ->
-      printf "#define CommandsOfRC(values) { \\\n";
-      List.iter parse_radio_laws (Xml.children s);
+  | "rc_commands" ->
+      printf "#define CommandsOfRC(commands) { \\\n";
+      List.iter parse_rc_commands (Xml.children s);
       printf "}\n\n"
   | "command_laws" ->
       printf "#define CommandsSet(values) { \\\n";