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bug fixed in for loops, gaz -> throttle

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This commit is contained in:
Pascal Brisset
2006-08-22 12:09:43 +00:00
parent 5ac09f9acd
commit 1e53d33e82
1 changed files with 23 additions and 9 deletions
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sw/tools/gen_flight_plan.ml
+23 -9
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@@ -151,10 +151,10 @@ let output_cam_mode = fun x index_of_waypoints ->
lprintf "cam_ac_target(%s);\n" i
| _ -> failwith (sprintf "Error: unknown '%s' cam mode" m)
let pprz_gaz = fun s ->
let pprz_throttle = fun s ->
let g = float_of_string s in
if g < 0. || g > 1. then
failwith "gaz must be > 0 and < 1";
failwith "throttle must be > 0 and < 1";
g*. 9600.
let output_vmode x wp last_wp =
@@ -162,7 +162,7 @@ let output_vmode x wp last_wp =
if pitch = "auto"
then begin
lprintf "climb_mode = CLIMB_MODE_PITCH;\n";
lprintf "nav_desired_gaz = %f;\n" (pprz_gaz (parsed_attrib x "gaz"))
lprintf "nav_desired_gaz = %f;\n" (pprz_throttle (parsed_attrib x "throttle"))
end else begin
lprintf "nav_pitch = %s;\n" (parse pitch);
lprintf "climb_mode = CLIMB_MODE_GAZ;\n";
@@ -196,11 +196,11 @@ let output_vmode x wp last_wp =
| "glide" ->
lprintf "vertical_mode = VERTICAL_MODE_AUTO_ALT;\n";
lprintf "glide_to(%s, %s);\n" last_wp wp
| "gaz" ->
| "throttle" ->
if (pitch = "auto") then
failwith "auto pich mode not compatible with vmode=gaz";
failwith "auto pich mode not compatible with vmode=throttle";
lprintf "vertical_mode = VERTICAL_MODE_AUTO_GAZ;\n";
lprintf "nav_desired_gaz = %f;\n" (pprz_gaz (parsed_attrib x "gaz"))
lprintf "nav_desired_gaz = %f;\n" (pprz_throttle (parsed_attrib x "throttle"))
| x -> failwith (sprintf "Unknown vmode '%s'" x)
end;
vmode
@@ -227,7 +227,14 @@ let output_hmode x wp last_wp =
let rec index_stage = fun x ->
begin
match Xml.tag x with
"while" | "for" ->
"for" ->
incr stage; (* Init of i *)
incr stage;
let n = !stage in
let l = List.map index_stage (Xml.children x) in
incr stage; (* To count the loop stage *)
Xml.Element (Xml.tag x, Xml.attribs x@["no", soi n], l)
| "while" ->
incr stage;
let n = !stage in
let l = List.map index_stage (Xml.children x) in
@@ -281,8 +288,15 @@ let rec print_stage = fun index_of_waypoints sectors x ->
and from_ = parsed_attrib x "from"
and to_expr = parsed_attrib x "to" in
let to_var = v ^ "_to" in
lprintf "static int8_t %s = %s - 1;\n" v from_;
lprintf "static const int8_t %s = %s;\n" to_var to_expr;
lprintf "static int8_t %s;\n" v;
lprintf "static int8_t %s;\n" to_var;
(* init *)
stage ();
lprintf "%s = %s - 1;\n" v from_;
lprintf "%s = %s;\n" to_var to_expr;
left ();
output_label f;
stage ();
lprintf "if (++%s > %s) Goto(%s) else NextStage();\n" v to_var e;