[rotorcraft] error on negative gains

paparazzi · Jun 3, 2014 · 4601197 · 4601197
1 parent 451087f
commit 4601197
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Showing 3 changed files with 12 additions and 19 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
@@ -40,7 +40,7 @@ struct Int32AttitudeGains  stabilization_gains;
   (STABILIZATION_ATTITUDE_PHI_IGAIN < 0)   || \
   (STABILIZATION_ATTITUDE_THETA_IGAIN < 0) || \
   (STABILIZATION_ATTITUDE_PSI_IGAIN  < 0)
-#warning "ALL control gains are now positive!!!"
+#error "ALL control gains have to be positive!!!"
 #endif
 
 struct Int32Eulers stabilization_att_sum_err;

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
@@ -50,7 +50,7 @@ struct Int32AttitudeGains stabilization_gains = {
   (STABILIZATION_ATTITUDE_PHI_IGAIN < 0)   ||   \
   (STABILIZATION_ATTITUDE_THETA_IGAIN < 0) ||   \
   (STABILIZATION_ATTITUDE_PSI_IGAIN  < 0)
-#warning "ALL control gains are now positive!!!"
+#error "ALL control gains have to be positive!!!"
 #endif
 
 struct Int32Quat stabilization_att_sum_err_quat;

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
@@ -40,12 +40,6 @@
 
 #define MAX_SUM_ERR 4000000
 
-#if (STABILIZATION_RATE_GAIN_P < 0) || \
-  (STABILIZATION_RATE_GAIN_Q < 0)   || \
-  (STABILIZATION_RATE_GAIN_R < 0)
-#warning "ALL control gains are now positive!!!"
-#endif
-
 #ifndef STABILIZATION_RATE_DDGAIN_P
 #define STABILIZATION_RATE_DDGAIN_P 0
 #endif
@@ -58,24 +52,23 @@
 
 #ifndef STABILIZATION_RATE_IGAIN_P
 #define STABILIZATION_RATE_IGAIN_P 0
-#else
-#if (STABILIZATION_RATE_IGAIN_P < 0)
-#warning "ALL control gains are now positive!!!"
-#endif
 #endif
+
 #ifndef STABILIZATION_RATE_IGAIN_Q
 #define STABILIZATION_RATE_IGAIN_Q 0
-#else
-#if (STABILIZATION_RATE_IGAIN_Q < 0)
-#warning "ALL control gains are now positive!!!"
-#endif
 #endif
+
 #ifndef STABILIZATION_RATE_IGAIN_R
 #define STABILIZATION_RATE_IGAIN_R 0
-#else
-#if (STABILIZATION_RATE_IGAIN_R < 0)
-#warning "ALL control gains are now positive!!!"
 #endif
+
+#if (STABILIZATION_RATE_GAIN_P < 0) || \
+  (STABILIZATION_RATE_GAIN_Q < 0)   || \
+  (STABILIZATION_RATE_GAIN_R < 0)   || \
+  (STABILIZATION_RATE_IGAIN_P < 0)  || \
+  (STABILIZATION_RATE_IGAIN_Q < 0)  || \
+  (STABILIZATION_RATE_IGAIN_R < 0)
+#error "ALL control gains have to be positive!!!"
 #endif
 
 #ifndef STABILIZATION_RATE_REF_TAU