[paparazzi-commits] [4212] More CSC fixes for telemetry channels

[Allen Ibara]

Revision: 4212
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4212
Author:   aibara
Date:     2009-10-01 18:54:04 +0000 (Thu, 01 Oct 2009)
Log Message:
-----------
More CSC fixes for telemetry channels

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c
    paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c      2009-10-01 18:53:33 UTC 
(rev 4211)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_main.c      2009-10-01 18:54:04 UTC 
(rev 4212)
@@ -40,6 +40,8 @@
 #include "radio_control.h"
 #include "booz/booz2_gps.h"
 
+//#include "ap_downlink.h"
+
 #include "csc_servos.h"
 #include "csc_telemetry.h"
 #include "csc_adc.h"
@@ -50,6 +52,8 @@
 #include "csc_ap_link.h"
 #include "led.h"
 
+#include "pprz_transport.h"
+
 #define CSC_STATUS_TIMEOUT (SYS_TICS_OF_SEC(0.25) / PERIODIC_TASK_PERIOD)
 
 #define PPRZ_MODE_MANUAL 0
@@ -172,7 +176,7 @@
 {
   static uint32_t csc_loops = 0;
   
-  PeriodicSendAp();
+  PeriodicSendAp_DefaultChannel();
   radio_control_periodic_task();
 
   if (rc_status == RC_REALLY_LOST) {

Modified: paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h    2009-10-01 18:53:33 UTC 
(rev 4211)
+++ paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h    2009-10-01 18:54:04 UTC 
(rev 4212)
@@ -29,6 +29,7 @@
 
 extern uint8_t telemetry_mode_Ap_DefaultChannel;
 
+#include "downlink.h"
 #include "settings.h"
 #include "booz/booz2_gps.h"
 
@@ -70,18 +71,19 @@
 #ifdef USE_RADIO_CONTROL
 #include "booz_radio_control.h"
 #define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, 
RADIO_CONTROL_NB_CHANNEL, radio_control.values)
-#define PERIODIC_SEND_QUAD_STATUS(_chan) DOWNLINK_SEND_QUAD_STATUS(_chan, 
&radio_control.status, &pprz_mode, &vsupply, &cpu_time)
+#define PERIODIC_SEND_FBW_STATUS(_chan) { uint16_t current; 
DOWNLINK_SEND_FBW_STATUS(_chan, &radio_control.status, &pprz_mode, &vsupply, 
&current); }
 #else 
 #ifdef RADIO_CONTROL
 #define PERIODIC_SEND_RC(_chan) DOWNLINK_SEND_RC(_chan, PPM_NB_PULSES, 
rc_values)
-#define PERIODIC_SEND_QUAD_STATUS(_chan) DOWNLINK_SEND_QUAD_STATUS(_chan, 
&rc_status, &pprz_mode, &vsupply, &cpu_time)
+#define PERIODIC_SEND_FBW_STATUS(_chan) { uint16_t current; 
DOWNLINK_SEND_FBW_STATUS(_chan, &rc_status, &pprz_mode, &vsupply, &current); }
 #endif
 #endif /* USE_RADIO_CONTROL */
 
 #ifdef USE_GPS
-#define PERIODIC_SEND_BOOZ2_GPS(_chan) {                               \
-    DOWNLINK_SEND_BOOZ2_GPS( &booz_ins_gps_pos_cm_ned.x,       \
-                            &booz_ins_gps_pos_cm_ned.y,        \
+#define PERIODIC_SEND_BOOZ2_GPS(_chan) {                       \
+DOWNLINK_SEND_BOOZ2_GPS( _chan,                                \
+                         &booz_ins_gps_pos_cm_ned.x,           \
+                         &booz_ins_gps_pos_cm_ned.y,           \
                             &booz_ins_gps_pos_cm_ned.z,        \
                             &booz_gps_state.ecef_speed.x,      \
                             &booz_gps_state.ecef_speed.y,      \
@@ -90,12 +92,13 @@
                             &booz_gps_state.sacc,              \
                             &booz_gps_state.pdop,              \
                             &booz_gps_state.num_sv,            \
-                            &booz_gps_state.fix);              \
+                            &booz_gps_state.fix)               \
   }
 #endif
 
-#define PERIODIC_SEND_GPS_ERROR() {                            \
-  DOWNLINK_SEND_GPS_ERROR( &csc_gps_errors.pos.x,              \
+#define PERIODIC_SEND_GPS_ERROR(_chan) {                               \
+DOWNLINK_SEND_GPS_ERROR( _chan,                                \
+                            &csc_gps_errors.pos.x,             \
                           &csc_gps_errors.pos.y,               \
                           &csc_gps_errors.pos.z,               \
                           &csc_gps_errors.rate.x,              \
@@ -104,7 +107,8 @@
     }                     
        
 #define PERIODIC_SEND_BOOZ2_INS3(_chan) { \
-DOWNLINK_SEND_BOOZ2_INS3(&booz_ins_gps_pos_cm_ned.x, \
+DOWNLINK_SEND_BOOZ2_INS3(_chan,          \
+&booz_ins_gps_pos_cm_ned.x,    \
 &booz_ins_gps_pos_cm_ned.y,        \
 &booz_ins_gps_pos_cm_ned.z,        \
 &booz_ins_gps_speed_cm_s_ned.x,   \