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Pascal Brisset
2005-08-22 13:52:07 +00:00
parent 1d7d2b72f2
commit 23a6591952
5 changed files with 16 additions and 13 deletions
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conf/airframes/twinstar1.xml
+1 -1
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@@ -65,7 +65,7 @@
<define name="CARROT" value="5." unit="s"/>
</section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="5."/>
<define name="ROLL_RESPONSE_FACTOR" value="2."/>
<define name="YAW_RESPONSE_FACTOR" value="5."/>
<define name="WEIGHT" value="1.3"/>
</section>
conf/airframes/twinstar2.xml
+1 -1
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@@ -65,7 +65,7 @@
<define name="CARROT" value="5." unit="s"/>
</section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="5."/>
<define name="ROLL_RESPONSE_FACTOR" value="1."/>
<define name="YAW_RESPONSE_FACTOR" value="5."/>
<define name="WEIGHT" value="1.3"/>
</section>
sw/airborne/autopilot/main.c
+5 -5
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@@ -388,11 +388,11 @@ void navigation_task( void ) {
int16_t d_course = DeciDegOfRad(desired_course);
DOWNLINK_SEND_NAVIGATION(&nav_block, &nav_stage, &pos_x, &pos_y, &d_course, &dist2_to_wp, &dist2_to_home);
/* int16_t x = target_x; */
/* int16_t y = target_y; */
/* int8_t phi = DegOfRad(phi_c); */
/* int8_t theta = DegOfRad(theta_c); */
/* DOWNLINK_SEND_CAM(&phi, &theta, &x, &y); */
int16_t x = target_x;
int16_t y = target_y;
int8_t phi = DegOfRad(phi_c);
int8_t theta = DegOfRad(theta_c);
DOWNLINK_SEND_CAM(&phi, &theta, &x, &y);
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME) {
sw/ground_segment/tmtc/Makefile
+4 -4
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@@ -24,7 +24,7 @@ include ../../../conf/Makefile.local
CONF = ../../../conf
VAR = ../../../var
all: hw_modem_listen receive messages boa_conf
all: hw_modem_listen receive messages $(VAR)/boa.conf
clean:
rm -f hw_modem_listen wavecard_connect receive messages *.bak *~ core *.o .depend *.opt *.out *.cm*
@@ -33,10 +33,10 @@ OCAMLC = ocamlc
OCAMLOPT = ocamlopt
INCLUDES= -I ../../lib/ocaml -I +lablgtk2
boa_conf :
chmod a+x boa
$(VAR)/boa.conf :$(CONF)/boa.conf
mkdir -p $(VAR)
sed 's|PAPARAZZI_HOME|$(PAPARAZZI_HOME)|' < $(CONF)/boa.conf > $(VAR)/boa.conf
sed 's|PAPARAZZI_HOME|$(PAPARAZZI_HOME)|' < $< > $@
chmod a+x boa
sw/ground_segment/tmtc/receive.ml
+5 -2
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@@ -320,8 +320,11 @@ let soi = string_of_int
let send_cam_status = fun a ->
if a.gps_mode = gps_mode_3D then
let h = a.alt -. float (Srtm.of_utm a.pos) in
let east = a.pos.utm_x +. h *. tan (a.cam.phi -. a.roll)
and north = a.pos.utm_y +. h *. tan (a.cam.theta +. a.pitch) in
let dx = h *. tan (a.cam.phi -. a.roll)
and dy = h *. tan (a.cam.theta +. a.pitch) in
let alpha = -. a.course in
let east = a.pos.utm_x +. dx *. cos alpha -. dy *. sin alpha
and north = a.pos.utm_y +. dx *. sin alpha +. dy *. cos alpha in
let values = ["ac_id", Pprz.String a.id; "cam_east", Pprz.Float east; "cam_north", Pprz.Float north] in
Ground_Pprz.message_send my_id "CAM_STATUS" values