change attitude ref flag name

paparazzi · Sep 28, 2011 · ff04ea1 · ff04ea1
1 parent 215cae3
commit ff04ea1
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -12,7 +12,7 @@
     <define name="USE_INS_NAV_INIT"/>
     <define name="USE_ADAPT_HOVER"/>
     <define name="NO_FUCKING_STARTUP_DELAY"/>
-    <define name="NO_ANGLE_REF"/>
+    <define name="USE_ATTITUDE_REF" value="0"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
     <target name="ap" board="navgo_1.0">

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
@@ -69,13 +69,13 @@ void stabilization_attitude_ref_init(void) {
 #define OMEGA_2_R_RES 7
 #define OMEGA_2_R    BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)
 
-#ifndef NO_ANGLE_REF
-#define USE_REF 1
+#ifndef USE_ATTITUDE_REF
+#define USE_ATTITUDE_REF 1
 #endif
 
 void stabilization_attitude_ref_update() {
 
-#ifdef USE_REF
+#if USE_ATTITUDE_REF
 
     /* dumb integrate reference attitude        */
     const struct Int32Eulers d_angle = {
@@ -122,10 +122,10 @@ void stabilization_attitude_ref_update() {
     /* saturate speed and trim accel accordingly */
     SATURATE_SPEED_TRIM_ACCEL();
 
-#else  /* !USE_REF  */
+#else  /* !USE_ATTITUDE_REF  */
     EULERS_COPY(stab_att_ref_euler, stab_att_sp_euler);
     INT_RATES_ZERO(stab_att_ref_rate);
     INT_RATES_ZERO(stab_att_ref_accel);
-#endif /* USE_REF   */
+#endif /* USE_ATTITUDE_REF   */
 
 }