rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

OP-1058 change some missing occurrencies to .field.XXX notation

Browse Source 
+review OPReview-552
This commit is contained in:
Alessio Morale 2013-08-01 11:44:12 +02:00
parent 01d963affd
commit 8dd3c45ccf
1 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
flight/modules/ManualControl/manualcontrol.c
View File

@ -261,10 +261,10 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
}
// Check settings, if error raise alarm
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
if (settings.ChannelGroups.fields.Roll >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.fields.Pitch >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.fields.Yaw >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.fields.Throttle >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t)PIOS_RCVR_INVALID
@ -281,7 +281,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
settings.FlightModeNumber < 1 || settings.FlightModeNumber > MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM ||
// Similar checks for FlightMode channel but only if more than one flight mode has been set. Otherwise don't care
((settings.FlightModeNumber > 1)
&& (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
&& (settings.ChannelGroups.fields.FlightMode >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_INVALID
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_NODRIVER))) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
@ -296,14 +296,14 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
}
// decide if we have valid manual input or not
valid_input_detected &= validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE],
settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE])
&& validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL],
settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL])
&& validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW],
settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW])
&& validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH],
settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
valid_input_detected &= validInputRange(settings.ChannelMin.fields.Throttle,
settings.ChannelMax.fields.Throttle, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE])
&& validInputRange(settings.ChannelMin.fields.Roll,
settings.ChannelMax.fields.Roll, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL])
&& validInputRange(settings.ChannelMin.fields.Yaw,
settings.ChannelMax.fields.Yaw, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW])
&& validInputRange(settings.ChannelMin.fields.Pitch,
settings.ChannelMax.fields.Pitch, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
// Implement hysteresis loop on connection status
if (valid_input_detected && (++connected_count > 10)) {
@ -333,21 +333,21 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
if (settings.ChannelGroups.fields.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if (AccessoryDesiredInstSet(0, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 1
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
if (settings.ChannelGroups.fields.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if (AccessoryDesiredInstSet(1, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 2
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
if (settings.ChannelGroups.fields.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if (AccessoryDesiredInstSet(2, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
@ -389,7 +389,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
if (settings.ChannelGroups.fields.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT);
@ -406,7 +406,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
}
}
// Set Accessory 1
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
if (settings.ChannelGroups.fields.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT);
@ -423,7 +423,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
}
}
// Set Accessory 2
if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
if (settings.ChannelGroups.fields.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings, dT);