if_calib.[ch] -----> rc_settings.[ch]

Makefile.ac

@@ -80,7 +80,7 @@ $(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
 	$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > /tmp/fp.xml
 	$(Q)mv /tmp/fp.xml $@
 
-$(INFLIGHT_CALIB_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
+$(INFLIGHT_CALIB_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_calib.out
 	@echo BUILD $@
 	$(Q)$(TOOLS)/gen_calib.out $< > /tmp/c.h
 	$(Q)mv /tmp/c.h $@

conf/airframes/flyingtux.xml

@@ -123,7 +123,7 @@ ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
 ap.srcs += $(SRC_ARCH)/modem_hw.c 
 
 ap.CFLAGS += -DRADIO_CONTROL_CALIB
-ap.srcs += if_calib.c
+ap.srcs += rc_settings.c
 
   </makefile>
 </airframe>

conf/airframes/microjet1.xml

@@ -116,7 +116,7 @@ ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
 ap.srcs += $(SRC_ARCH)/modem_hw.c 
 
 ap.CFLAGS += -DRADIO_CONTROL_CALIB
-ap.srcs += if_calib.c
+ap.srcs += rc_settings.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

conf/airframes/plaster1.xml

@@ -126,7 +126,7 @@ ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
 ap.srcs += $(SRC_ARCH)/modem_hw.c 
 
 ap.CFLAGS += -DRADIO_CONTROL_CALIB
-ap.srcs += if_calib.c
+ap.srcs += rc_settings.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

conf/airframes/twinstar4.xml

@@ -128,8 +128,8 @@ ap.srcs += pprz_transport.c downlink.c
 ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
 ap.srcs += $(SRC_ARCH)/modem_hw.c 
 
-ap.CFLAGS += -DRADIO_CONTROL_CALIB
-ap.srcs += if_calib.c
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
 
 ap.CFLAGS += -DDATALINK=WAVECARD
 ap.srcs += traffic_info.c datalink.c

conf/autopilot/sitl.makefile

@@ -2,5 +2,5 @@ sim.ARCHDIR = $(ARCHI)
 sim.ARCH = sitl
 sim.TARGET = autopilot
 sim.TARGETDIR = autopilot
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DRADIO_CONTROL_CALIB
-sim.srcs = radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c pid.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c if_calib.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/ivy_transport.c 
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DRADIO_CONTROL_SETTINGS
+sim.srcs = radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c pid.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/ivy_transport.c 

sw/airborne/ap_downlink.h

@@ -68,7 +68,7 @@
   DOWNLINK_SEND_ATTITUDE(&phi, &psi, &theta); \
 })
 
-#define PERIODIC_SEND_PPRZ_MODE() DOWNLINK_SEND_PPRZ_MODE(&pprz_mode, &vertical_mode, &lateral_mode, &horizontal_mode, &inflight_calib_mode, &mcu1_status, &ir_estim_mode);
+#define PERIODIC_SEND_PPRZ_MODE() DOWNLINK_SEND_PPRZ_MODE(&pprz_mode, &vertical_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status, &ir_estim_mode);
 #define PERIODIC_SEND_DESIRED() DOWNLINK_SEND_DESIRED(&desired_roll, &desired_pitch, &desired_x, &desired_y, &desired_altitude, &desired_climb);
 
 #define PERIODIC_SEND_NAVIGATION_REF()  DOWNLINK_SEND_NAVIGATION_REF(&nav_utm_east0, &nav_utm_north0, &nav_utm_zone0);
@@ -96,8 +96,8 @@
   } \
 }
 
-#ifdef RADIO_CONTROL_CALIB
-#define PERIODIC_SEND_SETTINGS() if (inflight_calib_mode != IF_CALIB_MODE_NONE)	DOWNLINK_SEND_SETTINGS(&slider_1_val, &slider_2_val);
+#ifdef RADIO_CONTROL_SETTINGS
+#define PERIODIC_SEND_SETTINGS() if (!RcSettingsOff()) DOWNLINK_SEND_SETTINGS(&slider_1_val, &slider_2_val);
 #else
 #define PERIODIC_SEND_SETTINGS() {}
 #endif

sw/airborne/autopilot.h

@@ -98,12 +98,12 @@ extern float slider_1_val, slider_2_val;
 
 extern bool_t launch;
 
-
-#define ModeUpdate(_mode, _value) { \
+/** Assignment, returning _old_value != _value
+ * Using GCC expression statements */
+#define ModeUpdate(_mode, _value) ({ \
   uint8_t new_mode = _value; \
-  if (_mode != new_mode) { _mode = new_mode; return TRUE; } \
-  return FALSE; \
-}
+  (_mode != new_mode ? _mode = new_mode, TRUE : FALSE); \
+})
 
 #define CheckEvent(_event) (_event ? _event = FALSE, TRUE : FALSE)
 

sw/airborne/main_ap.c

@@ -43,7 +43,7 @@
 #include "nav.h"
 #include "autopilot.h"
 #include "estimator.h"
-#include "if_calib.h"
+#include "rc_settings.h"
 #include "cam.h"
 #include "traffic_info.h"
 #include "link_mcu.h"
@@ -64,7 +64,8 @@
 #define LOW_BATTERY_DECIVOLT (LOW_BATTERY*10)
 
 
-uint8_t  inflight_calib_mode = IF_CALIB_MODE_NONE;
+/** FIXME: should be in rc_settings but required by telemetry (ap_downlink.h)*/
+uint8_t rc_settings_mode = RC_SETTINGS_MODE_NONE;
 
 
 /** Define minimal speed for takeoff in m/s */
@@ -108,7 +109,7 @@ static inline uint8_t pprz_mode_update( void ) {
   if ((pprz_mode != PPRZ_MODE_HOME &&
        pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER)
       || CheckEvent(rc_event_1)) {
-    ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE], fbw_state->status));
+    return ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE], fbw_state->status));
   } else
     return FALSE;
 }
@@ -118,7 +119,7 @@ static inline uint8_t pprz_mode_update( void ) {
  *  \brief update ir estimation if RADIO_LLS is true \n
  */
 inline uint8_t ir_estim_mode_update( void ) {
-  ModeUpdate(ir_estim_mode, IR_ESTIM_MODE_OF_PULSE(fbw_state->channels[RADIO_LLS]));
+  return ModeUpdate(ir_estim_mode, IR_ESTIM_MODE_OF_PULSE(fbw_state->channels[RADIO_LLS]));
 }
 #endif
 
@@ -133,12 +134,9 @@ static inline uint8_t mcu1_status_update( void ) {
   return FALSE;
 }
 
-/** Delay between @@@@@ A FIXER @@@@@ */
+/** Minimum delay before an event is enabled */
 #define EVENT_DELAY 20
 
-/** \def EventUpdate(_cpt, _cond, _event)
- *  @@@@@ A FIXER @@@@@
- */
 #define EventUpdate(_cpt, _cond, _event) \
   if (_cond) { \
     if (_cpt < EVENT_DELAY) { \
@@ -151,26 +149,14 @@ static inline uint8_t mcu1_status_update( void ) {
   }
 
 
-#if defined RADIO_CALIB && defined RADIO_CONTROL_CALIB
-static inline uint8_t inflight_calib_mode_update ( void ) {
-  ModeUpdate(inflight_calib_mode, IF_CALIB_MODE_OF_PULSE(fbw_state->channels[RADIO_CALIB]));
-}
-#define EventPos(_cpt, _channel, _event) \
- EventUpdate(_cpt, (inflight_calib_mode==IF_CALIB_MODE_NONE && fbw_state->channels[_channel]>(int)(0.75*MAX_PPRZ)), _event)
-
-#define EventNeg(_cpt, _channel, _event) \
- EventUpdate(_cpt, (inflight_calib_mode==IF_CALIB_MODE_NONE && fbw_state->channels[_channel]<(int)(-0.75*MAX_PPRZ)), _event)
-
-#else //  RADIO_CALIB && defined RADIO_CONTROL_CALIB
+#define Event(_cpt, _channel, _event, _cond) \
+ EventUpdate(_cpt, (RcSettingsOff() && fbw_state->channels[_channel] _cond), _event)
 
 #define EventPos(_cpt, _channel, _event) \
- EventUpdate(_cpt, (fbw_state->channels[_channel]>(int)(0.75*MAX_PPRZ)), _event)
+  Event(_cpt, _channel, _event, >(int)(0.75*MAX_PPRZ))
 
 #define EventNeg(_cpt, _channel, _event) \
- EventUpdate(_cpt, (fbw_state->channels[_channel]<(int)(-0.75*MAX_PPRZ)), _event)
-
-#endif //  RADIO_CALIB && defined RADIO_CONTROL_CALIB
-
+ Event(_cpt, _channel, _event, <(int)(-0.75*MAX_PPRZ))
 
 
 
@@ -235,9 +221,9 @@ inline void telecommand_task( void ) {
 #ifdef RADIO_LLS
     mode_changed |= ir_estim_mode_update();
 #endif
-#if defined RADIO_CALIB && defined RADIO_CONTROL_CALIB
-    bool_t calib_mode_changed = inflight_calib_mode_update();
-    inflight_calib(calib_mode_changed || pprz_mode_changed);
+#if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
+    bool_t calib_mode_changed = RcSettingsModeUpdate(fbw_state->channels);
+    rc_settings(calib_mode_changed || pprz_mode_changed);
     mode_changed |= calib_mode_changed;
 #endif
   }

sw/airborne/if_calib.c → sw/airborne/rc_settings.c

@@ -25,12 +25,13 @@
 
 
 #include <inttypes.h>
+#include "rc_settings.h"
 #include "radio.h"
 #include "autopilot.h"
-#include "if_calib.h"
 #include "infrared.h"
 #include "pid.h"
 #include "nav.h"
+#include "estimator.h"
 
 
 #define ParamValInt16(param_init_val, param_travel, cur_pulse, init_pulse) \
@@ -39,10 +40,6 @@
 #define ParamValFloat(param_init_val, param_travel, cur_pulse, init_pulse) \
 (param_init_val + ((float)(cur_pulse - init_pulse)) * param_travel / (float)MAX_PPRZ)
 
-
-
-#include "estimator.h"
-
 #define RcChannel(x) (fbw_state->channels[x])
 
 /** Includes generated code from airframe.xml */

sw/airborne/rc_settings.h

@@ -0,0 +1,43 @@
+/** \file rc_settings.h
+ *  \brief Variable setting though the radio control 
+ *
+ * The <rc_control> section of a XML flight plan allows the user to change the
+ * value of an autopilot internal variable through the rc transmitter.
+ * C code is generated from this XML code (var/AC/inflight_calib.h). This
+ * module handles the control of this setting mode.
+ *
+ * Note that this functionnality is deprecated since datalink use is a lot more
+ * easier (<dl_settings> section)
+ */
+
+#ifndef RC_SETTINGS_H
+
+#include "std.h"
+#include "radio.h"
+
+#define RC_SETTINGS_MODE_NONE      0
+#define RC_SETTINGS_MODE_DOWN      1
+#define RC_SETTINGS_MODE_UP        2
+
+#if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
+
+#define RcSettingsOff() (rc_settings_mode==RC_SETTINGS_MODE_NONE)
+
+#define RC_SETTINGS_MODE_OF_PULSE(pprz) (pprz < TRESHOLD1 ? RC_SETTINGS_MODE_UP : \
+				      (pprz < TRESHOLD2 ? RC_SETTINGS_MODE_NONE :  \
+				                           RC_SETTINGS_MODE_DOWN))
+
+#define RcSettingsModeUpdate(_rc_channels) \
+  ModeUpdate(rc_settings_mode, RC_SETTINGS_MODE_OF_PULSE(_rc_channels[RADIO_CALIB]))
+
+extern uint8_t rc_settings_mode;
+void rc_settings(bool_t mode_changed);
+
+
+#else /*  RADIO_CALIB && defined RADIO_CONTROL_SETTINGS */
+
+#define RcSettingsOff() TRUE
+
+#endif /* ! (RADIO_CALIB && defined RADIO_CONTROL_SETTINGS) */
+
+#endif // RC_SETTINGS_H

sw/tools/gen_calib.ml

@@ -3,7 +3,7 @@
  *
  * XML preprocessing for in flight calibration
  *  
- * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
  *
@@ -60,7 +60,7 @@ let parse_setting = fun xml ->
   let param_macro = param_macro_of_type t in
   let var_init = var ^ "_init" in
 
-  lprintf "if (inflight_calib_mode == IF_CALIB_MODE_%s) {\n" (String.uppercase cm);
+  lprintf "if (rc_settings_mode == RC_SETTINGS_MODE_%s) {\n" (String.uppercase cm);
   right ();
   lprintf "static %s %s;\n" (inttype t) var_init;
   lprintf "static int16_t slider%d_init;\n" cursor;
@@ -93,7 +93,7 @@ let _ =
     let xml = start_and_begin xml_file h_name in
 
     let rc_control = try ExtXml.child xml "rc_control" with Not_found -> failwith (sprintf "Error: 'rc_control' child expected in %s" (Xml.to_string xml)) in
-    lprintf "void inflight_calib(bool_t mode_changed) {\n";
+    lprintf "void rc_settings(bool_t mode_changed) {\n";
     right ();
     parse_modes rc_control;
     left (); lprintf "}\n";