[paparazzi-commits] [4318] Add supervision_run_spinup to start motors

[Allen Ibara]

Revision: 4318
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4318
Author:   aibara
Date:     2009-11-07 02:18:10 +0000 (Sat, 07 Nov 2009)
Log Message:
-----------
Add supervision_run_spinup to start motors
spining in sequence (ie, one startup at a time)

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

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2009-11-06 15:32:26 UTC (rev 4317)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2009-11-07 02:18:10 UTC (rev 4318)
@@ -64,6 +64,18 @@
           SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR);
 }
 
+void supervision_run_spinup(uint32_t counter, uint32_t max_counter, int32_t 
in_cmd[])
+{
+  int i;
+  for (i = 0; i < SUPERVISION_NB_MOTOR; i++) {
+    if (counter < i * max_counter / SUPERVISION_NB_MOTOR) {
+      supervision.commands[i] = SUPERVISION_MIN_MOTOR;
+    } else {
+      supervision.commands[i] = 0;
+    }
+  }
+}
+
 void supervision_run(bool_t motors_on, int32_t in_cmd[] ) {
   uint8_t i;
   if (motors_on) {

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.h      
2009-11-06 15:32:26 UTC (rev 4317)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.h      
2009-11-07 02:18:10 UTC (rev 4318)
@@ -14,5 +14,6 @@
 
 extern void supervision_init(void);
 extern void supervision_run(bool_t motors_on, int32_t in_cmd[]);
+extern void supervision_run_spinup(uint32_t counter, uint32_t max_counter, 
int32_t in_cmd[]);
 
 #endif /* BOOZ_SUPERVISION_H */