Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-01 21:07:40 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[generators] flight_plan: WAYPOINTS_LLA

Browse Source 
- alt in mm
- WAYPOINTS_LLA_WGS84 with ellipsoidal alt
- WAYPOINTS_LLAx with labels
This commit is contained in:
Felix Ruess
2015-01-03 00:19:53 +01:00
parent dea80645de
commit 12024911cb
1 changed files with 12 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/tools/generators/gen_flight_plan.ml
+12 -1
View File
@@ -134,7 +134,15 @@ let print_waypoint_lla = fun utm0 default_alt waypoint ->
and alt = try sof (float_attrib waypoint "height" +. !ground_alt) with _ -> default_alt in and alt = try sof (float_attrib waypoint "height" +. !ground_alt) with _ -> default_alt in
let alt = try Xml.attrib waypoint "alt" with _ -> alt in let alt = try Xml.attrib waypoint "alt" with _ -> alt in
let wgs84 = Latlong.of_utm Latlong.WGS84 (Latlong.utm_add utm0 (x, y)) in let wgs84 = Latlong.of_utm Latlong.WGS84 (Latlong.utm_add utm0 (x, y)) in
printf " {%Ld, %Ld, %.0f}, /* 1e7deg, 1e7deg, cm (hmsl=%.2fm) */ \\\n" (convert_angle wgs84.posn_lat) (convert_angle wgs84.posn_long) (100. *. float_of_string alt) (Egm96.of_wgs84 wgs84) printf " {.lat=%Ld, .lon=%Ld, .alt=%.0f}, /* 1e7deg, 1e7deg, mm (above NAV_MSL0, local msl=%.2fm) */ \\\n" (convert_angle wgs84.posn_lat) (convert_angle wgs84.posn_long) (1000. *. float_of_string alt) (Egm96.of_wgs84 wgs84)
let print_waypoint_lla_wgs84 = fun utm0 default_alt waypoint ->
let (x, y) = (float_attrib waypoint "x", float_attrib waypoint "y")
and alt = try sof (float_attrib waypoint "height" +. !ground_alt) with _ -> default_alt in
let alt = try Xml.attrib waypoint "alt" with _ -> alt in
let wgs84 = Latlong.of_utm Latlong.WGS84 (Latlong.utm_add utm0 (x, y)) in
let alt = float_of_string alt +. Egm96.of_wgs84 wgs84 in
printf " {.lat=%Ld, .lon=%Ld, .alt=%.0f}, /* 1e7deg, 1e7deg, mm (above WGS84 ref ellipsoid) */ \\\n" (convert_angle wgs84.posn_lat) (convert_angle wgs84.posn_long) (1000. *. alt)
let get_index_block = fun x -> let get_index_block = fun x ->
@@ -837,6 +845,9 @@ let () =
Xml2h.define "WAYPOINTS_LLA" "{ \\"; Xml2h.define "WAYPOINTS_LLA" "{ \\";
List.iter (print_waypoint_lla utm0 alt) waypoints; List.iter (print_waypoint_lla utm0 alt) waypoints;
lprintf "};\n"; lprintf "};\n";
Xml2h.define "WAYPOINTS_LLA_WGS84" "{ \\";
List.iter (print_waypoint_lla_wgs84 utm0 alt) waypoints;
lprintf "};\n";
Xml2h.define "NB_WAYPOINT" (string_of_int (List.length waypoints)); Xml2h.define "NB_WAYPOINT" (string_of_int (List.length waypoints));
Xml2h.define "FP_BLOCKS" "{ \\"; Xml2h.define "FP_BLOCKS" "{ \\";