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Code Issues Releases Activity

OP-1294 declare controlHandler as const, add a new PIOS_EXCLUDE_ADVANCED_FEATURES that disables all nav features

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This commit is contained in:
Alessio Morale 2014-04-08 00:30:10 +02:00
parent 21bec9ade8
commit 6d1fabdd5f
2 changed files with 22 additions and 17 deletions
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37
flight/modules/ManualControl/manualcontrol.c
View File

@ -57,7 +57,7 @@
// defined handlers
static controlHandler handler_MANUAL = {
static const controlHandler handler_MANUAL = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
@ -65,7 +65,7 @@ static controlHandler handler_MANUAL = {
},
.handler = &manualHandler,
};
static controlHandler handler_STABILIZED = {
static const controlHandler handler_STABILIZED = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
@ -74,16 +74,8 @@ static controlHandler handler_STABILIZED = {
.handler = &stabilizedHandler,
};
// TODO: move the altitude handling into stabi
static controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static controlHandler handler_AUTOTUNE = {
static const controlHandler handler_AUTOTUNE = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
@ -92,7 +84,18 @@ static controlHandler handler_AUTOTUNE = {
.handler = NULL,
};
static controlHandler handler_PATHFOLLOWER = {
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// TODO: move the altitude handling into stabi
static const controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static const controlHandler handler_PATHFOLLOWER = {
.controlChain = {
.Stabilization = true,
.PathFollower = true,
@ -101,7 +104,7 @@ static controlHandler handler_PATHFOLLOWER = {
.handler = &pathFollowerHandler,
};
static controlHandler handler_PATHPLANNER = {
static const controlHandler handler_PATHPLANNER = {
.controlChain = {
.Stabilization = true,
.PathFollower = true,
@ -110,7 +113,7 @@ static controlHandler handler_PATHPLANNER = {
.handler = &pathPlannerHandler,
};
#endif
// Private variables
static DelayedCallbackInfo *callbackHandle;
@ -192,7 +195,7 @@ static void manualControlTask(void)
}
// Depending on the mode update the Stabilization or Actuator objects
controlHandler *handler = &handler_MANUAL;
const controlHandler *handler = &handler_MANUAL;
switch (newMode) {
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
handler = &handler_MANUAL;
@ -202,6 +205,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
handler = &handler_STABILIZED;
break;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
@ -216,6 +220,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
handler = &handler_ALTITUDE;
break;
#endif
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
handler = &handler_AUTOTUNE;
break;

2
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -144,7 +144,7 @@
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */
#define PIOS_EXCLUDE_ADVANCED_FEATURES
/* Performance counters */
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998