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[paparazzi-commits] [4272] parse fms messages in nav mode
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4272] parse fms messages in nav mode |
Date: |
Mon, 19 Oct 2009 09:39:06 +0000 |
Revision: 4272
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4272
Author: gautier
Date: 2009-10-19 09:39:06 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
parse fms messages in nav mode
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h
Modified: paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h 2009-10-19
09:33:55 UTC (rev 4271)
+++ paparazzi3/trunk/sw/airborne/booz/fms/booz_fms_datalink.h 2009-10-19
09:39:06 UTC (rev 4272)
@@ -33,42 +33,50 @@
#endif
#define BOOZ_FMS_PARSE_DATALINK(_dl_buffer) { \
- booz_fms_last_msg = 0; \
- booz_fms_input.h_mode = DL_BOOZ2_FMS_COMMAND_h_mode(_dl_buffer); \
- booz_fms_input.v_mode = DL_BOOZ2_FMS_COMMAND_v_mode(_dl_buffer); \
- switch (booz_fms_input.h_mode) { \
+ fms.last_msg = 0; \
+ fms.input.h_mode = DL_BOOZ2_FMS_COMMAND_h_mode(_dl_buffer); \
+ fms.input.v_mode = DL_BOOZ2_FMS_COMMAND_v_mode(_dl_buffer); \
+ switch (fms.input.h_mode) { \
case BOOZ2_GUIDANCE_H_MODE_KILL: \
case BOOZ2_GUIDANCE_H_MODE_RATE : \
break; \
case BOOZ2_GUIDANCE_H_MODE_ATTITUDE : \
{
\
- booz_fms_input.h_sp.attitude.phi =
DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
- booz_fms_input.h_sp.attitude.theta =
DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
- booz_fms_input.h_sp.attitude.psi =
DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
- ANGLE_REF_NORMALIZE(booz_fms_input.h_sp.attitude.psi); \
- BOOZ_FMS_LIMIT_ATTITUDE(booz_fms_input.h_sp.attitude); \
+ fms.input.h_sp.attitude.phi =
DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
+ fms.input.h_sp.attitude.theta =
DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
+ fms.input.h_sp.attitude.psi =
DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
+ ANGLE_REF_NORMALIZE(fms.input.h_sp.attitude.psi); \
+ BOOZ_FMS_LIMIT_ATTITUDE(fms.input.h_sp.attitude); \
}
\
break; \
case BOOZ2_GUIDANCE_H_MODE_HOVER : \
{
\
- booz_fms_input.h_sp.pos.x =
DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
- booz_fms_input.h_sp.pos.y =
DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
+ fms.input.h_sp.pos.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer);
\
+ fms.input.h_sp.pos.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer);
\
}
\
break; \
case BOOZ2_GUIDANCE_H_MODE_NAV : \
+ { \
+ fms.input.h_sp.speed.x = DL_BOOZ2_FMS_COMMAND_h_sp_1(_dl_buffer); \
+ fms.input.h_sp.speed.y = DL_BOOZ2_FMS_COMMAND_h_sp_2(_dl_buffer); \
+ fms.input.h_sp.speed.z = DL_BOOZ2_FMS_COMMAND_h_sp_3(_dl_buffer); \
+ } \
break; \
} \
- switch (booz_fms_input.v_mode) { \
+ switch (fms.input.v_mode) { \
case BOOZ2_GUIDANCE_V_MODE_KILL: \
case BOOZ2_GUIDANCE_V_MODE_RC_DIRECT: \
case BOOZ2_GUIDANCE_V_MODE_RC_CLIMB: \
break; \
case BOOZ2_GUIDANCE_V_MODE_CLIMB : \
- booz_fms_input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
+ fms.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
break; \
case BOOZ2_GUIDANCE_V_MODE_HOVER : \
- booz_fms_input.v_sp.height = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
+ fms.input.v_sp.height = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
break; \
+ case BOOZ2_GUIDANCE_V_MODE_NAV : \
+ fms.input.v_sp.climb = DL_BOOZ2_FMS_COMMAND_v_sp(_dl_buffer); \
+ break; \
} \
}
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