Merge branch 'master' of git://github.com/paparazzi/paparazzi

paparazzi · Feb 10, 2011 · 5412fc3 · 5412fc3
2 parents fcf9f3c + 1885aec
commit 5412fc3
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Showing 2 changed files with 13 additions and 3 deletions.
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
@@ -95,6 +95,9 @@ endif
 #
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
+# I2C is needed for speed controllers and barometers on lisa
+ap.srcs += mcu_periph/i2c.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
 ap.srcs += $(SRC_BOOZ)/booz2_commands.c
 
@@ -134,8 +137,6 @@ ifeq ($(BOARD), booz)
 ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED) -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
 else ifeq ($(BOARD), lisa_l)
 ap.CFLAGS += -DUSE_I2C2
-ap.srcs += mcu_periph/i2c.c
-ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 endif
 
 #

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -37,6 +37,14 @@
 
 #include "generated/airframe.h"
 
+/* In case Asctec controllers are used without supervision */
+#ifndef SUPERVISION_MIN_MOTOR
+#define SUPERVISION_MIN_MOTOR 1
+#endif
+#ifndef SUPERVISION_MAX_MOTOR
+#define SUPERVISION_MAX_MOTOR 200
+#endif
+
 uint8_t guidance_v_mode;
 int32_t guidance_v_ff_cmd;
 int32_t guidance_v_fb_cmd;
@@ -153,8 +161,9 @@ void guidance_v_run(bool_t in_flight) {
   // AKA SUPERVISION and co
   if (in_flight) {
     // we should use something after the supervision!!! fuck!!!
-    int32_t cmd_hack = Chop(stabilization_cmd[COMMAND_THRUST], 1, 200);
+    int32_t cmd_hack = Chop(stabilization_cmd[COMMAND_THRUST], SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR);
     gv_adapt_run(ins_ltp_accel.z, cmd_hack);
+    //gv_adapt_run(ins_ltp_accel.z, cmd_hack, guidance_v_zd_ref);
   }
   else {
     // reset vertical filter until takeoff