From bbdaa965d53d28582b776fc47f1b6f532f69cbf2 Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Thu, 23 Aug 2012 17:09:59 +0200 Subject: [PATCH] [flight_time] estimator_flight_time is now autopilot_flight_time --- conf/flight_plans/EMAV2009.xml | 2 +- conf/flight_plans/basic.xml | 2 +- conf/flight_plans/corsica.xml | 2 +- conf/flight_plans/creidlitz.xml | 2 +- conf/flight_plans/grosslobke_demo.xml | 2 +- conf/flight_plans/grosslobke_kreise.xml | 2 +- conf/flight_plans/hsif.xml | 2 +- conf/flight_plans/huit.xml | 2 +- conf/flight_plans/ingolfsskali.xml | 2 +- conf/flight_plans/joystick.xml | 2 +- conf/flight_plans/kalscott.xml | 2 +- conf/flight_plans/kv_svalbard.xml | 2 +- conf/flight_plans/mav08.xml | 2 +- conf/flight_plans/muret_for.xml | 2 +- conf/flight_plans/nordlys.xml | 2 +- conf/flight_plans/poles.xml | 2 +- conf/flight_plans/sinsat.xml | 2 +- conf/flight_plans/snav.xml | 2 +- conf/flight_plans/tcas.xml | 2 +- conf/flight_plans/xsens_cachejunction.xml | 2 +- conf/settings/fixedwing_basic.xml | 2 +- sw/airborne/estimator.c | 10 ---------- sw/airborne/estimator.h | 3 --- sw/airborne/firmwares/fixedwing/ap_downlink.h | 2 +- sw/airborne/firmwares/fixedwing/autopilot.h | 5 ++++- sw/airborne/firmwares/fixedwing/main_ap.c | 15 +++++++++------ sw/airborne/modules/com/generic_com.c | 2 +- sw/airborne/modules/gsm/gsm.c | 6 +++--- sw/ground_segment/cockpit/live.ml | 2 +- .../tmtc/GSM/SMS_Ground_UDtest_final.c | 6 +++--- sw/in_progress/satcom/tcp2ivy.c | 12 ++++++------ sw/in_progress/satcom/tcp2ivy_generic.c | 12 ++++++------ sw/lib/ocaml/expr_syntax.ml | 2 +- 33 files changed, 56 insertions(+), 63 deletions(-) diff --git a/conf/flight_plans/EMAV2009.xml b/conf/flight_plans/EMAV2009.xml index 00960a73aae..5cbeaab4c36 100644 --- a/conf/flight_plans/EMAV2009.xml +++ b/conf/flight_plans/EMAV2009.xml @@ -28,7 +28,7 @@ - + diff --git a/conf/flight_plans/basic.xml b/conf/flight_plans/basic.xml index 43850512472..382e64ab26a 100644 --- a/conf/flight_plans/basic.xml +++ b/conf/flight_plans/basic.xml @@ -38,7 +38,7 @@ - + diff --git a/conf/flight_plans/corsica.xml b/conf/flight_plans/corsica.xml index 36064950a26..02db9b1e709 100644 --- a/conf/flight_plans/corsica.xml +++ b/conf/flight_plans/corsica.xml @@ -35,7 +35,7 @@ - + diff --git a/conf/flight_plans/creidlitz.xml b/conf/flight_plans/creidlitz.xml index 67f4f2487df..8b79b6ca848 100644 --- a/conf/flight_plans/creidlitz.xml +++ b/conf/flight_plans/creidlitz.xml @@ -36,7 +36,7 @@ - + diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml index 6961d146faa..7741ca2013c 100644 --- a/conf/flight_plans/grosslobke_demo.xml +++ b/conf/flight_plans/grosslobke_demo.xml @@ -24,7 +24,7 @@ - + diff --git a/conf/flight_plans/grosslobke_kreise.xml b/conf/flight_plans/grosslobke_kreise.xml index 170f85b5240..a6732defbf5 100644 --- a/conf/flight_plans/grosslobke_kreise.xml +++ b/conf/flight_plans/grosslobke_kreise.xml @@ -12,7 +12,7 @@ - + diff --git a/conf/flight_plans/hsif.xml b/conf/flight_plans/hsif.xml index 71ba46343a5..8cff5975095 100644 --- a/conf/flight_plans/hsif.xml +++ b/conf/flight_plans/hsif.xml @@ -21,7 +21,7 @@ - + diff --git a/conf/flight_plans/huit.xml b/conf/flight_plans/huit.xml index 623c0b0af99..0819bb0fe8d 100644 --- a/conf/flight_plans/huit.xml +++ b/conf/flight_plans/huit.xml @@ -13,7 +13,7 @@ - + diff --git a/conf/flight_plans/ingolfsskali.xml b/conf/flight_plans/ingolfsskali.xml index bbc10eb850f..5b811161c16 100644 --- a/conf/flight_plans/ingolfsskali.xml +++ b/conf/flight_plans/ingolfsskali.xml @@ -23,7 +23,7 @@ - + diff --git a/conf/flight_plans/joystick.xml b/conf/flight_plans/joystick.xml index 971f2dd5442..b39d6694d51 100644 --- a/conf/flight_plans/joystick.xml +++ b/conf/flight_plans/joystick.xml @@ -36,7 +36,7 @@ - + diff --git a/conf/flight_plans/kalscott.xml b/conf/flight_plans/kalscott.xml index 4fce807cded..49d59220b26 100644 --- a/conf/flight_plans/kalscott.xml +++ b/conf/flight_plans/kalscott.xml @@ -28,7 +28,7 @@ - + diff --git a/conf/flight_plans/kv_svalbard.xml b/conf/flight_plans/kv_svalbard.xml index e8b7ca83252..499614ccdfb 100644 --- a/conf/flight_plans/kv_svalbard.xml +++ b/conf/flight_plans/kv_svalbard.xml @@ -38,7 +38,7 @@ - + diff --git a/conf/flight_plans/mav08.xml b/conf/flight_plans/mav08.xml index 35b5c415e14..3424afc1a92 100644 --- a/conf/flight_plans/mav08.xml +++ b/conf/flight_plans/mav08.xml @@ -44,7 +44,7 @@ - + diff --git a/conf/flight_plans/muret_for.xml b/conf/flight_plans/muret_for.xml index af469421792..961a2816c48 100644 --- a/conf/flight_plans/muret_for.xml +++ b/conf/flight_plans/muret_for.xml @@ -9,7 +9,7 @@ - + diff --git a/conf/flight_plans/nordlys.xml b/conf/flight_plans/nordlys.xml index d82892b5f7d..7d06ace28bf 100644 --- a/conf/flight_plans/nordlys.xml +++ b/conf/flight_plans/nordlys.xml @@ -26,7 +26,7 @@ - + diff --git a/conf/flight_plans/poles.xml b/conf/flight_plans/poles.xml index 480a51b46eb..0d0e5393407 100644 --- a/conf/flight_plans/poles.xml +++ b/conf/flight_plans/poles.xml @@ -34,7 +34,7 @@ - + diff --git a/conf/flight_plans/sinsat.xml b/conf/flight_plans/sinsat.xml index 8186ca27e64..306e5d616a5 100644 --- a/conf/flight_plans/sinsat.xml +++ b/conf/flight_plans/sinsat.xml @@ -6,7 +6,7 @@ - + diff --git a/conf/flight_plans/snav.xml b/conf/flight_plans/snav.xml index 71c3faa9478..7dc6d806a07 100644 --- a/conf/flight_plans/snav.xml +++ b/conf/flight_plans/snav.xml @@ -36,7 +36,7 @@ - + diff --git a/conf/flight_plans/tcas.xml b/conf/flight_plans/tcas.xml index c30f6295f78..ab79ecda5d6 100644 --- a/conf/flight_plans/tcas.xml +++ b/conf/flight_plans/tcas.xml @@ -36,7 +36,7 @@ - + diff --git a/conf/flight_plans/xsens_cachejunction.xml b/conf/flight_plans/xsens_cachejunction.xml index 4a1859f9d19..0214c4f4678 100644 --- a/conf/flight_plans/xsens_cachejunction.xml +++ b/conf/flight_plans/xsens_cachejunction.xml @@ -26,7 +26,7 @@ - + diff --git a/conf/settings/fixedwing_basic.xml b/conf/settings/fixedwing_basic.xml index abdfe89a29d..84eb2165f55 100644 --- a/conf/settings/fixedwing_basic.xml +++ b/conf/settings/fixedwing_basic.xml @@ -8,7 +8,7 @@ - + diff --git a/sw/airborne/estimator.c b/sw/airborne/estimator.c index 3e72d7fbb46..d0d96df8071 100644 --- a/sw/airborne/estimator.c +++ b/sw/airborne/estimator.c @@ -30,20 +30,10 @@ #include #include "estimator.h" -#include "state.h" -#include "mcu_periph/uart.h" -#include "ap_downlink.h" -#include "subsystems/gps.h" -#include "subsystems/nav.h" - -/* flight time in seconds */ -uint16_t estimator_flight_time; float estimator_AOA; void estimator_init( void ) { - estimator_flight_time = 0; - } diff --git a/sw/airborne/estimator.h b/sw/airborne/estimator.h index 7a0a2be2c3c..486e90f5995 100644 --- a/sw/airborne/estimator.h +++ b/sw/airborne/estimator.h @@ -36,9 +36,6 @@ #include "state.h" -/** flight time in seconds. */ -extern uint16_t estimator_flight_time; - extern float estimator_AOA; ///< angle of attack in rad void estimator_init( void ); diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h index c4a6520e611..a8cdeb4cd38 100644 --- a/sw/airborne/firmwares/fixedwing/ap_downlink.h +++ b/sw/airborne/firmwares/fixedwing/ap_downlink.h @@ -63,7 +63,7 @@ &v_ctl_throttle_slewed, \ &vsupply, \ &s, \ - &estimator_flight_time, \ + &autopilot_flight_time, \ &kill_throttle, \ &block_time, \ &stage_time, \ diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h index a7d7e16a1e2..9df70ea617c 100644 --- a/sw/airborne/firmwares/fixedwing/autopilot.h +++ b/sw/airborne/firmwares/fixedwing/autopilot.h @@ -55,6 +55,9 @@ extern uint8_t pprz_mode; extern bool_t kill_throttle; +/** flight time in seconds. */ +extern uint16_t autopilot_flight_time; + // FIXME, move to control #define LATERAL_MODE_MANUAL 0 @@ -95,7 +98,7 @@ extern bool_t power_switch; #endif // POWER_SWITCH_LED #define autopilot_ResetFlightTimeAndLaunch(_) { \ - estimator_flight_time = 0; launch = FALSE; \ + autopilot_flight_time = 0; launch = FALSE; \ } /* CONTROL_RATE will be removed in the next release diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index d9c3f752249..3de67679c28 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -122,6 +122,9 @@ bool_t kill_throttle = FALSE; bool_t launch = FALSE; +/* flight time in seconds */ +uint16_t autopilot_flight_time = 0; + /** Supply voltage in deciVolt. * This the ap copy of the measurement from fbw @@ -382,7 +385,7 @@ static inline void telecommand_task( void ) { current = fbw_state->current; #ifdef RADIO_CONTROL - if (!estimator_flight_time) { + if (!autopilot_flight_time) { if (pprz_mode == PPRZ_MODE_AUTO2 && fbw_state->channels[RADIO_THROTTLE] > THROTTLE_THRESHOLD_TAKEOFF) { launch = TRUE; } @@ -517,7 +520,7 @@ void attitude_loop( void ) { h_ctl_pitch_setpoint = nav_pitch; Bound(h_ctl_pitch_setpoint, H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT); - if (kill_throttle || (!estimator_flight_time && !launch)) + if (kill_throttle || (!autopilot_flight_time && !launch)) v_ctl_throttle_setpoint = 0; } @@ -577,8 +580,8 @@ void sensors_task( void ) { /** monitor stuff run at 1Hz */ void monitor_task( void ) { - if (estimator_flight_time) - estimator_flight_time++; + if (autopilot_flight_time) + autopilot_flight_time++; #if defined DATALINK || defined SITL datalink_time++; #endif @@ -591,9 +594,9 @@ void monitor_task( void ) { kill_throttle |= (t >= LOW_BATTERY_DELAY); kill_throttle |= launch && (dist2_to_home > Square(KILL_MODE_DISTANCE)); - if (!estimator_flight_time && + if (!autopilot_flight_time && *stateGetHorizontalSpeedNorm_f() > MIN_SPEED_FOR_TAKEOFF) { - estimator_flight_time = 1; + autopilot_flight_time = 1; launch = TRUE; /* Not set in non auto launch */ uint16_t time_sec = sys_time.nb_sec; DOWNLINK_SEND_TAKEOFF(DefaultChannel, DefaultDevice, &time_sec); diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c index 9f9dcc33f9e..8d31627e322 100644 --- a/sw/airborne/modules/com/generic_com.c +++ b/sw/airborne/modules/com/generic_com.c @@ -83,7 +83,7 @@ void generic_com_periodic( void ) { com_trans.buf[19] = (uint8_t)(ap_state->commands[COMMAND_THROTTLE]*100/MAX_PPRZ); com_trans.buf[20] = pprz_mode; com_trans.buf[21] = nav_block; - FillBufWith16bit(com_trans.buf, 22, estimator_flight_time); + FillBufWith16bit(com_trans.buf, 22, autopilot_flight_time); I2CTransmit(GENERIC_COM_I2C_DEV, com_trans, GENERIC_COM_SLAVE_ADDR, NB_DATA); } diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c index 5f2c10212f9..c011c16d239 100644 --- a/sw/airborne/modules/gsm/gsm.c +++ b/sw/airborne/modules/gsm/gsm.c @@ -41,7 +41,7 @@ In: OK Out: AT+CMGS=\"GCS_NUMBER\" In: > - Out: gps.utm_pos.east, gps.utm_pos.north, gps.course, gps.hmsl, gps.gspeed, -gps.ned_vel.z, vsupply, estimator_flight_time, rssi CTRLZ + Out: gps.utm_pos.east, gps.utm_pos.north, gps.course, gps.hmsl, gps.gspeed, -gps.ned_vel.z, vsupply, autopilot_flight_time, rssi CTRLZ Receiving: In: +CMTI: ..., @@ -409,9 +409,9 @@ void gsm_send_report_continue(void) uint8_t rssi = atoi(gsm_buf + strlen("+CSQ: ")); // Donnee GPS :ne sont pas envoyes gps_mode, gps.tow, gps.utm_pos.zone, gps_nb_ovrn - // Donnees batterie (seuls vsupply et estimator_flight_time sont envoyes) + // Donnees batterie (seuls vsupply et autopilot_flight_time sont envoyes) // concatenation de toutes les infos en un seul message à transmettre - sprintf(data_to_send, "%ld %ld %d %ld %d %d %d %d %d", gps.utm_pos.east, gps.utm_pos.north, gps_course, gps.hmsl, gps.gspeed, -gps.ned_vel.z, vsupply, estimator_flight_time, rssi); + sprintf(data_to_send, "%ld %ld %d %ld %d %d %d %d %d", gps.utm_pos.east, gps.utm_pos.north, gps_course, gps.hmsl, gps.gspeed, -gps.ned_vel.z, vsupply, autopilot_flight_time, rssi); // send the number and wait for the prompt char buf[32]; diff --git a/sw/ground_segment/cockpit/live.ml b/sw/ground_segment/cockpit/live.ml index 42dddbcfd4d..f089089b237 100644 --- a/sw/ground_segment/cockpit/live.ml +++ b/sw/ground_segment/cockpit/live.ml @@ -697,7 +697,7 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id connect "kill_throttle" ac.strip#connect_kill; connect "nav_shift" ac.strip#connect_shift_lateral; connect "pprz_mode" ac.strip#connect_mode; - connect "estimator_flight_time" ac.strip#connect_flight_time; + connect "autopilot_flight_time" ac.strip#connect_flight_time; let get_ac_unix_time = fun () -> ac.last_unix_time in connect ~warning:false "snav_desired_tow" (ac.strip#connect_apt get_ac_unix_time); begin (* Periodically update the appointment *) diff --git a/sw/ground_segment/tmtc/GSM/SMS_Ground_UDtest_final.c b/sw/ground_segment/tmtc/GSM/SMS_Ground_UDtest_final.c index 7bb3f9dc551..af8faf27175 100644 --- a/sw/ground_segment/tmtc/GSM/SMS_Ground_UDtest_final.c +++ b/sw/ground_segment/tmtc/GSM/SMS_Ground_UDtest_final.c @@ -99,7 +99,7 @@ pile *MaPile = NULL; typedef enum {INIT, AT, CMGF, SMSMODE, CNMI, CPMS, ERREUR} Etat_Liste; // Informations extraites du SMS recu de l'avion -char extr_gps_utm_east[15], extr_gps_utm_north[15], extr_gps_course[15], extr_gps_alt[15], extr_gps_gspeed[15], extr_gps_climb[15], extr_vsupply[15], extr_estimator_flight_time[15], extr_qualite_signal_GSM[10]; +char extr_gps_utm_east[15], extr_gps_utm_north[15], extr_gps_course[15], extr_gps_alt[15], extr_gps_gspeed[15], extr_gps_climb[15], extr_vsupply[15], extr_autopilot_flight_time[15], extr_qualite_signal_GSM[10]; char reponse_attendue[20]; int prompt_recu = 0; @@ -472,10 +472,10 @@ void decoupage( char message_complet[]) Extraction(data_to_cut, ' ', 1, 1, ' ', 1, 0, extr_gps_gspeed); Extraction(data_to_cut, ' ', 1, 1, ' ', 1, 0, extr_gps_climb); Extraction(data_to_cut, ' ', 1, 1, ' ', 1, 0, extr_vsupply); - Extraction(data_to_cut, ' ', 1, 1, ' ', 1, 0, extr_estimator_flight_time); + Extraction(data_to_cut, ' ', 1, 1, ' ', 1, 0, extr_autopilot_flight_time); Extraction(data_to_cut, ' ', 1, 1, '\r', 1, 0, extr_qualite_signal_GSM); - printf("Message :\n utm_east %s\n utm_north %s\n course %s\n alt %s\n speed %s\n climb %s\n bat %s\n flight_time %s\n signal %s\n", extr_gps_utm_east, extr_gps_utm_north, extr_gps_course, extr_gps_alt, extr_gps_gspeed, extr_gps_climb, extr_vsupply, extr_estimator_flight_time, extr_qualite_signal_GSM); + printf("Message :\n utm_east %s\n utm_north %s\n course %s\n alt %s\n speed %s\n climb %s\n bat %s\n flight_time %s\n signal %s\n", extr_gps_utm_east, extr_gps_utm_north, extr_gps_course, extr_gps_alt, extr_gps_gspeed, extr_gps_climb, extr_vsupply, extr_autopilot_flight_time, extr_qualite_signal_GSM); fflush(stdout); } diff --git a/sw/in_progress/satcom/tcp2ivy.c b/sw/in_progress/satcom/tcp2ivy.c index e6e65712c10..a5691303871 100644 --- a/sw/in_progress/satcom/tcp2ivy.c +++ b/sw/in_progress/satcom/tcp2ivy.c @@ -75,7 +75,7 @@ unsigned char electrical_vsupply; unsigned char nav_block; unsigned char energy; unsigned char throttle; -unsigned short estimator_flight_time; +unsigned short autopilot_flight_time; unsigned char nav_utm_zone0; float latlong_utm_x, latlong_utm_y; unsigned char pprz_mode; @@ -196,8 +196,8 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { pprz_mode = buf[19]; // com_trans.buf[20] = nav_block; nav_block = buf[20]; -// FillBufWith16bit(com_trans.buf, 21, estimator_flight_time); - estimator_flight_time = buf2ushort(&buf[21]); +// FillBufWith16bit(com_trans.buf, 21, autopilot_flight_time); + autopilot_flight_time = buf2ushort(&buf[21]); //gps_lat = 52.2648312 * 1e7; //gps_lon = 9.9939456 * 1e7; @@ -211,7 +211,7 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { //throttle = 51; //pprz_mode = 2; //nav_block = 1; -//estimator_flight_time = 123; +//autopilot_flight_time = 123; nav_utm_zone0 = (gps_lon/10000000+180) / 6 + 1; latlong_utm_of(RadOfDeg(gps_lat/1e7), RadOfDeg(gps_lon/1e7), nav_utm_zone0); @@ -230,7 +230,7 @@ printf("energy %d\n", energy); printf("throttle %d\n", throttle); printf("pprz_mode %d\n", pprz_mode); printf("nav_block %d\n", nav_block); -printf("estimator_flight_time %d\n", estimator_flight_time); +printf("autopilot_flight_time %d\n", autopilot_flight_time); printf("gps_utm_east %d\n", gps_utm_east); printf("gps_utm_north %d\n", gps_utm_north); @@ -316,7 +316,7 @@ printf("gps_utm_zone %d\n", gps_utm_zone); throttle * MAX_PPRZ / 100, electrical_vsupply, 0, // amps - estimator_flight_time, + autopilot_flight_time, 0, // kill_auto_throttle 0, // block_time 0, // stage_time diff --git a/sw/in_progress/satcom/tcp2ivy_generic.c b/sw/in_progress/satcom/tcp2ivy_generic.c index e40ce3665f4..caa9f881389 100644 --- a/sw/in_progress/satcom/tcp2ivy_generic.c +++ b/sw/in_progress/satcom/tcp2ivy_generic.c @@ -78,7 +78,7 @@ unsigned char electrical_vsupply; unsigned char nav_block; unsigned short energy; unsigned char throttle; -unsigned short estimator_flight_time; +unsigned short autopilot_flight_time; unsigned char nav_utm_zone0; float latlong_utm_x, latlong_utm_y; unsigned char pprz_mode; @@ -133,8 +133,8 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { pprz_mode = buf[19]; // com_trans.buf[21] = nav_block; nav_block = buf[20]; - // FillBufWith16bit(com_trans.buf, 22, estimator_flight_time); - estimator_flight_time = buf2ushort(&buf[21]); + // FillBufWith16bit(com_trans.buf, 22, autopilot_flight_time); + autopilot_flight_time = buf2ushort(&buf[21]); #if 0 gps_lat = 52.2648312 * 1e7; @@ -148,7 +148,7 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { throttle = 51; pprz_mode = 2; nav_block = 1; - estimator_flight_time = 123; + autopilot_flight_time = 123; #endif printf("**** message received from iridium module ****\n"); @@ -163,7 +163,7 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { printf("throttle %d\n", throttle); printf("pprz_mode %d\n", pprz_mode); printf("nav_block %d\n", nav_block); - printf("estimator_flight_time %d\n", estimator_flight_time); + printf("autopilot_flight_time %d\n", autopilot_flight_time); fflush(stdout); IvySendMsg("%d GENERIC_COM %d %d %d %d %d %d %d %d %d %d %d %d", @@ -179,7 +179,7 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { throttle, pprz_mode, nav_block, - estimator_flight_time); + autopilot_flight_time); } else { diff --git a/sw/lib/ocaml/expr_syntax.ml b/sw/lib/ocaml/expr_syntax.ml index e553008ba10..fd9d5ad2c0b 100644 --- a/sw/lib/ocaml/expr_syntax.ml +++ b/sw/lib/ocaml/expr_syntax.ml @@ -72,7 +72,7 @@ let functions = [ let variables = [ "launch"; "estimator_z"; - "estimator_flight_time"; + "autopilot_flight_time"; "estimator_hspeed_mod"; "estimator_theta"; "circle_count";