[paparazzi-commits] [4670] fix supervision, SUPERVISION_STARTUP_DELAY not needed

[Felix Ruess]

Revision: 4670
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4670
Author:   flixr
Date:     2010-03-12 01:23:46 +0000 (Fri, 12 Mar 2010)
Log Message:
-----------
fix supervision, SUPERVISION_STARTUP_DELAY not needed

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2010-03-11 06:52:30 UTC (rev 4669)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2010-03-12 01:23:46 UTC (rev 4670)
@@ -81,15 +81,21 @@
 {
   int i;
   for (i = 0; i < SUPERVISION_NB_MOTOR; i++) {
+#ifdef SUPERVISION_STARTUP_DELAY
     if (counter > i * max_counter / (SUPERVISION_NB_MOTOR + 
SUPERVISION_STARTUP_DELAY)) {
       if (counter > SUPERVISION_NB_MOTOR * max_counter / (SUPERVISION_NB_MOTOR 
+ SUPERVISION_STARTUP_DELAY)) {
-       supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP + 
(SUPERVISION_MIN_MOTOR - SUPERVISION_MIN_MOTOR_STARTUP) * counter / max_counter;
+        supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP + 
(SUPERVISION_MIN_MOTOR - SUPERVISION_MIN_MOTOR_STARTUP) * counter / max_counter;
       } else {
-       supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP;
+        supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP;
       }
     } else {
       supervision.commands[i] = 0;
     }
+#else
+    if (counter < i * max_counter / SUPERVISION_NB_MOTOR) {
+      supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP;
+    }
+#endif
   }
 }