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AP_Mount_Alexmos : changes some define to avoid conflicting 

change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well
This commit is contained in:
Matthias Badaire 2015-01-16 08:31:16 +01:00 committed by Andrew Tridgell
parent 6e5e438b0f
commit cdeb1fb8f3
2 changed files with 10 additions and 10 deletions
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8
libraries/AP_Mount/AP_Mount_Alexmos.cpp
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@ -130,12 +130,12 @@ void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degree
target_deg *= RAD_TO_DEG;
}
uint8_t mode = MODE_ANGLE;
int16_t speed_roll = DEGREE_PER_SEC_TO_VALUE(SPEED);
uint8_t mode = AP_MOUNT_ALEXMOS_MODE_ANGLE;
int16_t speed_roll = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
int16_t angle_roll = DEGREE_TO_VALUE(target_deg.x);
int16_t speed_pitch = DEGREE_PER_SEC_TO_VALUE(SPEED);
int16_t speed_pitch = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
int16_t angle_pitch = DEGREE_TO_VALUE(target_deg.y);
int16_t speed_yaw = DEGREE_PER_SEC_TO_VALUE(SPEED);
int16_t speed_yaw = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
int16_t angle_yaw = DEGREE_TO_VALUE(target_deg.z);
uint8_t data[13] = {
(uint8_t)mode,

12
libraries/AP_Mount/AP_Mount_Alexmos.h
View File

@ -54,13 +54,13 @@
#define CMD_SERVO_OUT 36
#define CMD_ERROR 255
#define MODE_NO_CONTROL 0
#define MODE_SPEED 1
#define MODE_ANGLE 2
#define MODE_SPEED_ANGLE 3
#define MODE_RC 4
#define AP_MOUNT_ALEXMOS_MODE_NO_CONTROL 0
#define AP_MOUNT_ALEXMOS_MODE_SPEED 1
#define AP_MOUNT_ALEXMOS_MODE_ANGLE 2
#define AP_MOUNT_ALEXMOS_MODE_SPEED_ANGLE 3
#define AP_MOUNT_ALEXMOS_MODE_RC 4
#define SPEED 30 // degree/s2
#define AP_MOUNT_ALEXMOS_SPEED 30 // degree/s2
#define VALUE_TO_DEGREE(d) ((float)((d * 720) >> 15))
#define DEGREE_TO_VALUE(d) ((int16_t)((float)(d)*(1.0f/0.02197265625f)))