[gentlenav] r3658 committed - MatrixPilot_wjp_helicalTurns: for backwards consistency with helicalTu...

[gent...@googlecode.com]

Revision: 3658
Author: robert.d...@gmail.com
Date: Mon Jun 15 09:38:30 2015 UTC
Log: MatrixPilot_wjp_helicalTurns: for backwards consistency with
helicalTurns branch, and downwards to trunk. add several empty include
files, so diff between source modules is more apparent & layout the target
board Config*.h files consistently. should be nil functional change.
https://code.google.com/p/gentlenav/source/detail?r=3658

Added:
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/mp_osd.h
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/servoMix.h
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/sonarCntrl.h
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/states.h
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/telemetry.h
/branches/MatrixPilot_wjp_helicalTurns/libDCM/estLocation.h
/branches/MatrixPilot_wjp_helicalTurns/libDCM/estWind.h
/branches/MatrixPilot_wjp_helicalTurns/libDCM/estYawDrift.h
/branches/MatrixPilot_wjp_helicalTurns/libDCM/gpsData.h
/branches/MatrixPilot_wjp_helicalTurns/libDCM/mathlib.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/builtins.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/mcu.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/radioIn.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/serialIO.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/servoOut.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/sonarIn.h
Modified:
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/helicalTurnCntrl.c
/branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/servoMix.c
/branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigAUAV3.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigHILSIM.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigUDB4.h
/branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigUDB5.h

=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/mp_osd.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/servoMix.h Mon Jun
15 09:38:30 2015 UTC
@@ -0,0 +1,30 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
+
+#ifndef _SERVOMIX_H_
+#define _SERVOMIX_H_
+
+
+void servoMix(void);
+void cameraServoMix(void);
+
+
+#endif // _SERVOMIX_H_
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/sonarCntrl.h Mon Jun
15 09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/states.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/telemetry.h Mon Jun
15 09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libDCM/estLocation.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libDCM/estWind.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libDCM/estYawDrift.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libDCM/gpsData.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libDCM/mathlib.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/builtins.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/mcu.h Mon Jun 15 09:38:30
2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/radioIn.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/serialIO.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/servoOut.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /dev/null
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/sonarIn.h Mon Jun 15
09:38:30 2015 UTC
@@ -0,0 +1,20 @@
+// This file is part of MatrixPilot.
+//
+// http://code.google.com/p/gentlenav/
+//
+// Copyright 2009-2011 MatrixPilot Team
+// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
+//
+// MatrixPilot is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// MatrixPilot is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.
+
=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/helicalTurnCntrl.c
Sun Jun 7 12:06:34 2015 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/helicalTurnCntrl.c
Mon Jun 15 09:38:30 2015 UTC
@@ -486,14 +486,10 @@
}

// multiply the normalized rmat[6] , rmat[8] vector by the pitch error
-
VectorScale( 2 , pitchEarthBodyProjection , pitchEarthBodyProjection ,
pitchError ) ;
-
tiltError[0] = 2*pitchEarthBodyProjection[1] ;
tiltError[2] = - 2*pitchEarthBodyProjection[0] ;

// compute the rotation rate error vector
-
VectorSubtract( 3 , rotationRateError , omegaAccum ,
desiredRotationRateGyro ) ;
-
}
=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/servoMix.c Tue Jun
2 12:13:26 2015 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/servoMix.c Mon Jun
15 09:38:30 2015 UTC
@@ -20,6 +20,7 @@


#include "defines.h"
+#include "servoMix.h"
#include "servoPrepare.h"

// Perform control based on the airframe type.
@@ -225,7 +226,7 @@
temp = pwManual[THROTTLE_INPUT_CHANNEL] +
REVERSE_IF_NEEDED(THROTTLE_CHANNEL_REVERSED, throttle_control);
udb_pwOut[THROTTLE_OUTPUT_CHANNEL] = udb_servo_pulsesat(temp);
}
-#endif
+#endif // AIRFRAME_HELI

udb_pwOut[PASSTHROUGH_A_OUTPUT_CHANNEL] =
udb_servo_pulsesat(pwManual[PASSTHROUGH_A_INPUT_CHANNEL]);
udb_pwOut[PASSTHROUGH_B_OUTPUT_CHANNEL] =
udb_servo_pulsesat(pwManual[PASSTHROUGH_B_INPUT_CHANNEL]);
=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigAUAV3.h Sat Jan 11
15:55:41 2014 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigAUAV3.h Mon Jun 15
09:38:30 2015 UTC
@@ -30,7 +30,12 @@

#define NUM_ANALOG_INPUTS 7

-// A/D channels:
+// External A/D channels:
+#define analogInput1BUFF 3
+#define analogInput2BUFF 4
+#define analogInput3BUFF 1
+#define analogInput4BUFF 2
+
#define A_VOLT_BUFF 5 // V, pin label Bat Volt
#define A_AMPS_BUFF 6 // I, pin label CS Curr
#define A_RSSI_BUFF 7 // RS, pin label RSSI
@@ -39,10 +44,6 @@
#define A_5V_BUFF 6 // I, pin label CS Curr
#define A_RSSI_BUFF 7 // RS, pin label RSSI

-#define analogInput1BUFF 3
-#define analogInput2BUFF 4
-#define analogInput3BUFF 1
-#define analogInput4BUFF 2

// MPU6000 configuration
#define xrate_MPU_channel 5
=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigHILSIM.h Mon Jun 17
12:19:32 2013 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigHILSIM.h Mon Jun 15
09:38:30 2015 UTC
@@ -19,6 +19,13 @@
// along with MatrixPilot. If not, see <http://www.gnu.org/licenses/>.


+// used for any board when HILSIM is defined, overrides many board
specific defines
+
+#undef SCALEGYRO
+#undef SCALEACCEL
+#define SCALEGYRO 3.0
+#define SCALEACCEL 2.64
+
#undef xrateBUFF
#undef yrateBUFF
#undef zrateBUFF
@@ -47,11 +54,6 @@
#define YACCEL_SIGN +
#define ZACCEL_SIGN +

-
-#undef SCALEGYRO
-#undef SCALEACCEL
-#define SCALEGYRO 3.0
-#define SCALEACCEL 2.64

#undef GPS_TYPE
#define GPS_TYPE GPS_UBX_4HZ
=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigUDB4.h Mon Sep 23
03:37:09 2013 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigUDB4.h Mon Jun 15
09:38:30 2015 UTC
@@ -32,6 +32,8 @@
#define xaccelBUFF 5
#define yaccelBUFF 6
#define zaccelBUFF 4
+
+// External A/D channels:
#define analogInput1BUFF 7
#define analogInput2BUFF 8
#define analogInput3BUFF 9
@@ -58,6 +60,13 @@
#define LED_GREEN _LATE2
#define LED_RED _LATE1

+// SPI SS pin definitions
+#define SPI1_SS _LATB2
+#define SPI2_SS _LATG9
+#define SPI1_TRIS _TRISB2
+#define SPI2_TRIS _TRISG9
+
+// Input Capture pin definitions
#define IC_PIN1 _RD8
#define IC_PIN2 _RD9
#define IC_PIN3 _RD10
=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigUDB5.h Fri Sep 12
23:44:36 2014 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/libUDB/ConfigUDB5.h Mon Jun 15
09:38:30 2015 UTC
@@ -32,7 +32,7 @@

#define NUM_ANALOG_INPUTS 4

-// A/D channels:
+// External A/D channels:
#define analogInput1BUFF 3
#define analogInput2BUFF 4
#define analogInput3BUFF 5
@@ -80,7 +80,7 @@
#define SPI1_TRIS _TRISB2
#define SPI2_TRIS _TRISG9

-// Input Capture pin difinitions
+// Input Capture pin definitions
#define IC_PIN1 _RD8
#define IC_PIN2 _RD9
#define IC_PIN3 _RD10