Merge branch 'master' of github.com:bitcraze/crazyflie-firmware

src/deck/drivers/src/locodeck.c

@@ -331,43 +331,97 @@ static const DeckDriver dwm1000_deck = {
 DECK_DRIVER(dwm1000_deck);
 
 LOG_GROUP_START(ranging)
-LOG_ADD(LOG_FLOAT, distance1, &algoOptions.distance[0])
-LOG_ADD(LOG_FLOAT, distance2, &algoOptions.distance[1])
-LOG_ADD(LOG_FLOAT, distance3, &algoOptions.distance[2])
-LOG_ADD(LOG_FLOAT, distance4, &algoOptions.distance[3])
-LOG_ADD(LOG_FLOAT, distance5, &algoOptions.distance[4])
-LOG_ADD(LOG_FLOAT, distance6, &algoOptions.distance[5])
-LOG_ADD(LOG_FLOAT, distance7, &algoOptions.distance[6])
-LOG_ADD(LOG_FLOAT, distance8, &algoOptions.distance[7])
-LOG_ADD(LOG_FLOAT, pressure1, &algoOptions.pressures[0])
-LOG_ADD(LOG_FLOAT, pressure2, &algoOptions.pressures[1])
-LOG_ADD(LOG_FLOAT, pressure3, &algoOptions.pressures[2])
-LOG_ADD(LOG_FLOAT, pressure4, &algoOptions.pressures[3])
-LOG_ADD(LOG_FLOAT, pressure5, &algoOptions.pressures[4])
-LOG_ADD(LOG_FLOAT, pressure6, &algoOptions.pressures[5])
-LOG_ADD(LOG_FLOAT, pressure7, &algoOptions.pressures[6])
-LOG_ADD(LOG_FLOAT, pressure8, &algoOptions.pressures[7])
+#if (LOCODECK_NR_OF_ANCHORS > 0)
+LOG_ADD(LOG_FLOAT, distance0, &algoOptions.distance[0])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 1)
+LOG_ADD(LOG_FLOAT, distance1, &algoOptions.distance[1])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 2)
+LOG_ADD(LOG_FLOAT, distance2, &algoOptions.distance[2])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 3)
+LOG_ADD(LOG_FLOAT, distance3, &algoOptions.distance[3])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 4)
+LOG_ADD(LOG_FLOAT, distance4, &algoOptions.distance[4])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 5)
+LOG_ADD(LOG_FLOAT, distance5, &algoOptions.distance[5])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 6)
+LOG_ADD(LOG_FLOAT, distance6, &algoOptions.distance[6])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 7)
+LOG_ADD(LOG_FLOAT, distance7, &algoOptions.distance[7])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 0)
+LOG_ADD(LOG_FLOAT, pressure0, &algoOptions.pressures[0])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 1)
+LOG_ADD(LOG_FLOAT, pressure1, &algoOptions.pressures[1])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 2)
+LOG_ADD(LOG_FLOAT, pressure2, &algoOptions.pressures[2])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 3)
+LOG_ADD(LOG_FLOAT, pressure3, &algoOptions.pressures[3])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 4)
+LOG_ADD(LOG_FLOAT, pressure4, &algoOptions.pressures[4])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 5)
+LOG_ADD(LOG_FLOAT, pressure5, &algoOptions.pressures[5])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 6)
+LOG_ADD(LOG_FLOAT, pressure6, &algoOptions.pressures[6])
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 7)
+LOG_ADD(LOG_FLOAT, pressure7, &algoOptions.pressures[7])
+#endif
 LOG_ADD(LOG_UINT16, state, &algoOptions.rangingState)
 LOG_GROUP_STOP(ranging)
 
 PARAM_GROUP_START(anchorpos)
+#if (LOCODECK_NR_OF_ANCHORS > 0)
 PARAM_ADD(PARAM_FLOAT, anchor0x, &algoOptions.anchorPosition[0].x)
 PARAM_ADD(PARAM_FLOAT, anchor0y, &algoOptions.anchorPosition[0].y)
 PARAM_ADD(PARAM_FLOAT, anchor0z, &algoOptions.anchorPosition[0].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 1)
 PARAM_ADD(PARAM_FLOAT, anchor1x, &algoOptions.anchorPosition[1].x)
 PARAM_ADD(PARAM_FLOAT, anchor1y, &algoOptions.anchorPosition[1].y)
 PARAM_ADD(PARAM_FLOAT, anchor1z, &algoOptions.anchorPosition[1].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 2)
 PARAM_ADD(PARAM_FLOAT, anchor2x, &algoOptions.anchorPosition[2].x)
 PARAM_ADD(PARAM_FLOAT, anchor2y, &algoOptions.anchorPosition[2].y)
 PARAM_ADD(PARAM_FLOAT, anchor2z, &algoOptions.anchorPosition[2].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 3)
 PARAM_ADD(PARAM_FLOAT, anchor3x, &algoOptions.anchorPosition[3].x)
 PARAM_ADD(PARAM_FLOAT, anchor3y, &algoOptions.anchorPosition[3].y)
 PARAM_ADD(PARAM_FLOAT, anchor3z, &algoOptions.anchorPosition[3].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 4)
 PARAM_ADD(PARAM_FLOAT, anchor4x, &algoOptions.anchorPosition[4].x)
 PARAM_ADD(PARAM_FLOAT, anchor4y, &algoOptions.anchorPosition[4].y)
 PARAM_ADD(PARAM_FLOAT, anchor4z, &algoOptions.anchorPosition[4].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 5)
 PARAM_ADD(PARAM_FLOAT, anchor5x, &algoOptions.anchorPosition[5].x)
 PARAM_ADD(PARAM_FLOAT, anchor5y, &algoOptions.anchorPosition[5].y)
 PARAM_ADD(PARAM_FLOAT, anchor5z, &algoOptions.anchorPosition[5].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 6)
+PARAM_ADD(PARAM_FLOAT, anchor6x, &algoOptions.anchorPosition[6].x)
+PARAM_ADD(PARAM_FLOAT, anchor6y, &algoOptions.anchorPosition[6].y)
+PARAM_ADD(PARAM_FLOAT, anchor6z, &algoOptions.anchorPosition[6].z)
+#endif
+#if (LOCODECK_NR_OF_ANCHORS > 7)
+PARAM_ADD(PARAM_FLOAT, anchor7x, &algoOptions.anchorPosition[7].x)
+PARAM_ADD(PARAM_FLOAT, anchor7y, &algoOptions.anchorPosition[7].y)
+PARAM_ADD(PARAM_FLOAT, anchor7z, &algoOptions.anchorPosition[7].z)
+#endif
 PARAM_ADD(PARAM_UINT8, enable, &algoOptions.anchorPositionOk)
 PARAM_GROUP_STOP(anchorpos)