Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-31 03:57:45 +08:00
Code Issues Actions 24 Packages Projects Releases Wiki Activity

camera control

Browse Source
This commit is contained in:
Pascal Brisset
2005-08-11 22:12:28 +00:00
parent 620820036d
commit 02bf08bd2d
12 changed files with 252 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/tools/gen_flight_plan.ml
+32 -5
View File
@@ -125,6 +125,32 @@ let stage = ref 0
let output_label l = lprintf "Label(%s)\n" l
let get_index_waypoint = fun x l ->
try
string_of_int (List.assoc x l)
with
Not_found -> failwith (sprintf "Unknown waypoint: %s\n" x)
let output_cam_mode = fun x index_of_waypoints ->
let m = try Xml.attrib x "cam_mode" with _ -> "fix" in
match m with
"null" -> lprintf "CamNull()";
| "fix" -> lprintf "CamFix()";
| "manual" -> lprintf "cam_manual();\n"
| "nadir" -> lprintf "cam_nadir();\n"
| "target" ->
if Xml.tag x = "xyz" then
lprintf "cam_carrot();\n"
else begin
try
let wp = Xml.attrib x "target" in
let i = get_index_waypoint wp index_of_waypoints in
lprintf "cam_waypoint_target(%s);\n" i
with _ ->
lprintf "cam_manual_target();\n"
end
| _ -> failwith (sprintf "Error: unknown '%s' cam mode" m)
let output_vmode x wp last_wp =
let pitch = try Xml.attrib x "pitch" with _ -> "0.0" in
if pitch = "auto"
@@ -189,11 +215,6 @@ let output_hmode x wp last_wp =
ExtXml.Error _ -> lprintf "fly_to(%s);\n" wp; "direct" (* Default behaviour *)
let get_index_waypoint = fun x l ->
try
string_of_int (List.assoc x l)
with
Not_found -> failwith (sprintf "Unknown waypoint: %s\n" x)
let rec compile_stage = fun block x ->
@@ -261,6 +282,7 @@ let rec print_stage = fun index_of_waypoints x ->
right ();
lprintf "desired_course = RadOfDeg(%s);\n" (parsed_attrib x "course");
ignore (output_vmode x "" "");
output_cam_mode x index_of_waypoints;
left (); lprintf "}\n";
lprintf "return;\n"
| "follow" ->
@@ -268,6 +290,7 @@ let rec print_stage = fun index_of_waypoints x ->
let id = ExtXml.attrib x "ac_id" in
let d = ExtXml.attrib x "distance" in
lprintf "Follow(%s, %s);\n" id d;
output_cam_mode x index_of_waypoints;
lprintf "return;\n"
| "attitude" ->
stage ();
@@ -277,6 +300,7 @@ let rec print_stage = fun index_of_waypoints x ->
lprintf "lateral_mode = LATERAL_MODE_ROLL;\n";
lprintf "nav_desired_roll = RadOfDeg(%s);\n" (parsed_attrib x "roll");
ignore (output_vmode x "" "");
output_cam_mode x index_of_waypoints;
left (); lprintf "}\n";
lprintf "return;\n"
| "go" ->
@@ -300,6 +324,7 @@ let rec print_stage = fun index_of_waypoints x ->
let vmode = output_vmode x wp last_wp in
if vmode = "glide" && hmode <> "route" then
failwith "glide vmode requires route hmode";
output_cam_mode x index_of_waypoints;
left (); lprintf "}\n";
lprintf "return;\n"
| "stay" ->
@@ -319,6 +344,7 @@ let rec print_stage = fun index_of_waypoints x ->
stage ();
let r = try parsed_attrib x "radius" with _ -> "100" in
lprintf "Goto3D(%s)\n" r;
output_cam_mode x index_of_waypoints;
lprintf "return;\n"
| "circle" ->
stage ();
@@ -333,6 +359,7 @@ let rec print_stage = fun index_of_waypoints x ->
with
ExtXml.Error _ -> ()
end;
output_cam_mode x index_of_waypoints;
lprintf "return;\n"
| "set" ->
stage ();