Addressed the comments

paparazzi · Mar 12, 2024 · 07d7deb · 07d7deb
1 parent 793b165
commit 07d7deb
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/conf/airframes/tudelft/rot_wing_v3b.xml b/conf/airframes/tudelft/rot_wing_v3b.xml
@@ -41,8 +41,8 @@
             </module>
 
             <module name="wing_rotation_adc_sensor">
-                <define name="ADC_SCALE"  value="0.00247111"/>
-                <define name="ADC_OFFSET" value="-25.635294"/>
+                <define name="ADC_WING_ROT_SCALE"  value="0.00247111"/>
+                <define name="ADC_WING_ROT_OFFSET" value="-25.635294"/>
             </module>
 
             <!-- <module name="mavlink">

diff --git a/sw/airborne/modules/rot_wing_drone/rotwing_state.c b/sw/airborne/modules/rot_wing_drone/rotwing_state.c
@@ -157,7 +157,7 @@ inline void guidance_indi_hybrid_set_wls_settings(float body_v[3], float roll_an
 static void send_rotating_wing_state(struct transport_tx *trans, struct link_device *dev)
 {
   #if ADC_WING_ROTATION
-  uint16_t adc_dummy = adc_wing_rotation_extern;
+  uint16_t adc_dummy = skew_adc_sensor;
   #else
   uint16_t adc_dummy = 0;
   #endif

diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.c b/sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.c
@@ -39,38 +39,38 @@
 #define ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_NB_SAMPLES 16
 #endif
 
-#ifndef ADC_OFFSET 
-#error "ADC_OFFSET not defined"
+#ifndef ADC_WING_ROT_OFFSET 
+#error "ADC_WING_ROT_OFFSET not defined"
 #endif
 
-#ifndef ADC_SCALE
-#error "ADC_SCALE not defined"
+#ifndef ADC_WING_ROT_SCALE
+#error "ADC_WING_ROT_SCALE not defined"
 #endif
 
-#ifdef ADC_OFFSET
-float adc_offset = ADC_OFFSET;
+#ifdef ADC_WING_ROT_OFFSET
+static float adc_offset = ADC_WING_ROT_OFFSET;
 #endif
 
-#ifdef ADC_SCALE
-float adc_scale = ADC_SCALE;
+#ifdef ADC_WING_ROT_SCALE
+static float adc_scale = ADC_WING_ROT_SCALE;
 #endif
 
 static struct adc_buf buf_wing_rot_pos;
-float adc_wing_rotation_extern;
+float skew_adc_sensor;
 // Initialization
 void wing_rotation_adc_init(void)
 {
   // ADC init
   adc_buf_channel(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION, &buf_wing_rot_pos,
                   ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_NB_SAMPLES);
-  adc_wing_rotation_extern = 0;     
+  skew_adc_sensor = 0;     
 }
 
 void wing_rotation_adc_to_deg(void)
 {
   float adc_wing_rotation = buf_wing_rot_pos.sum / buf_wing_rot_pos.av_nb_sample;
   float wing_angle_deg = adc_scale * adc_wing_rotation + adc_offset;
-  adc_wing_rotation_extern = adc_wing_rotation;
+  skew_adc_sensor = adc_wing_rotation;
 
   // SEND ABI Message to ctr_eff_sched and other modules that want Actuator position feedback
   struct act_feedback_t feedback = {0};

diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.h b/sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.h
@@ -26,7 +26,7 @@
 #ifndef WING_ROTATION_ADC_SENSOR_H
 #define WING_ROTATION_ADC_SENSOR_H
 
-extern float adc_wing_rotation_extern;
+extern float skew_adc_sensor;
 extern void wing_rotation_adc_init(void);
 extern void wing_rotation_adc_to_deg(void);