Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 09:58:23 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

[messages] renamed some old BOOZ_SIM messages to NPS_

Browse Source
This commit is contained in:
Felix Ruess
2012-05-29 18:28:09 +02:00
parent ba701ec564
commit 27bb0d8244
5 changed files with 43 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/messages.xml
+9 -9
View File
@@ -1643,7 +1643,7 @@
<field name="br_err" type="float" unit="rad/s" alt_unit="degres/s" alt_unit_coef="57.29578" />
</message>
<message name="BOOZ_SIM_SENSORS_SCALED" id="197">
<message name="NPS_SENSORS_SCALED" id="197">
<field name="acc_x" type="float" />
<field name="acc_y" type="float" />
<field name="acc_z" type="float" />
@@ -1815,7 +1815,7 @@
<!--236 is free -->
<!--237 is free -->
<message name="BOOZ_SIM_POS_LLH" id="238">
<message name="NPS_POS_LLH" id="238">
<field name="pprz_lat" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="lat_geod" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="lat_geoc" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
@@ -1827,14 +1827,14 @@
<field name="asl" type="float" unit="m"/>
</message>
<message name="BOOZ_SIM_RPMS" id="239">
<message name="NPS_RPMS" id="239">
<field name="front" type="float" unit="RPM"/>
<field name="back" type="float" unit="RPM"/>
<field name="right" type="float" unit="RPM"/>
<field name="left" type="float" unit="RPM"/>
</message>
<message name="BOOZ_SIM_SPEED_POS" id="240">
<message name="NPS_SPEED_POS" id="240">
<field name="ltpp_xdd" type="float" unit="m/s2"/>
<field name="ltpp_ydd" type="float" unit="m/s2"/>
<field name="ltpp_zdd" type="float" unit="m/s2"/>
@@ -1846,7 +1846,7 @@
<field name="ltpp_z" type="float" unit="m"/>
</message>
<message name="BOOZ_SIM_RATE_ATTITUDE" id="241">
<message name="NPS_RATE_ATTITUDE" id="241">
<field name="p" type="float" unit="degres/s"/>
<field name="q" type="float" unit="degres/s"/>
<field name="r" type="float" unit="degres/s"/>
@@ -1855,18 +1855,18 @@
<field name="psi" type="float" unit="degres"/>
</message>
<message name="BOOZ_SIM_GYRO_BIAS" id="242">
<message name="NPS_GYRO_BIAS" id="242">
<field name="bp" type="float" unit="degres/s"/>
<field name="bq" type="float" unit="degres/s"/>
<field name="br" type="float" unit="degres/s"/>
</message>
<message name="BOOZ_SIM_RANGE_METER" id="243">
<message name="NPS_RANGE_METER" id="243">
<field name="dist" type="float" unit="adc"/>
</message>
<message name="BOOZ_SIM_WIND" id="244">
<message name="NPS_WIND" id="244">
<field name="vx" type="float" unit="m/s"/>
<field name="vy" type="float" unit="m/s"/>
<field name="vz" type="float" unit="m/s"/>
@@ -1885,7 +1885,7 @@
<field name="errno" type="uint8"/>
</message>
<message name="BOOZ_SIM_ACCEL_LTP" id="248">
<message name="NPS_ACCEL_LTP" id="248">
<field name="xdd" type="float" unit="m/s2"/>
<field name="ydd" type="float" unit="m/s2"/>
<field name="zdd" type="float" unit="m/s2"/>
sw/airborne/firmwares/rotorcraft/telemetry.h
+1 -1
View File
@@ -832,7 +832,7 @@
#ifdef BOOZ2_TRACK_CAM
#include "cam_track.h"
#define PERIODIC_SEND_CAM_TRACK(_trans, _dev) DOWNLINK_SEND_BOOZ_SIM_SPEED_POS(_trans, _dev, \
#define PERIODIC_SEND_CAM_TRACK(_trans, _dev) DOWNLINK_SEND_NPS_SPEED_POS(_trans, _dev, \
&target_accel_ned.x, \
&target_accel_ned.y, \
&target_accel_ned.z, \
sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
+2 -2
View File
@@ -59,7 +59,7 @@ gboolean timeout_callback(gpointer data) {
ahrs_float.ltp_to_imu_euler.theta,
ahrs_float.ltp_to_imu_euler.psi);
IvySendMsg("183 BOOZ_SIM_RATE_ATTITUDE %f %f %f %f %f %f",
IvySendMsg("183 NPS_RATE_ATTITUDE %f %f %f %f %f %f",
DegOfRad(aos.imu_rates.p),
DegOfRad(aos.imu_rates.q),
DegOfRad(aos.imu_rates.r),
@@ -67,7 +67,7 @@ gboolean timeout_callback(gpointer data) {
DegOfRad(aos.ltp_to_imu_euler.theta),
DegOfRad(aos.ltp_to_imu_euler.psi));
IvySendMsg("183 BOOZ_SIM_GYRO_BIAS %f %f %f",
IvySendMsg("183 NPS_GYRO_BIAS %f %f %f",
DegOfRad(aos.gyro_bias.p),
DegOfRad(aos.gyro_bias.q),
DegOfRad(aos.gyro_bias.r));
sw/simulator/nps/nps_ivy.c
+26 -34
View File
@@ -109,23 +109,15 @@ static void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
void nps_ivy_display(void) {
/*
IvySendMsg("%d COMMANDS %f %f %f %f",
AC_ID,
autopilot.commands[SERVO_FRONT],
autopilot.commands[SERVO_BACK],
autopilot.commands[SERVO_RIGHT],
autopilot.commands[SERVO_LEFT]);
*/
IvySendMsg("%d BOOZ_SIM_RATE_ATTITUDE %f %f %f %f %f %f",
AC_ID,
DegOfRad(fdm.body_ecef_rotvel.p),
DegOfRad(fdm.body_ecef_rotvel.q),
DegOfRad(fdm.body_ecef_rotvel.r),
DegOfRad(fdm.ltp_to_body_eulers.phi),
DegOfRad(fdm.ltp_to_body_eulers.theta),
DegOfRad(fdm.ltp_to_body_eulers.psi));
IvySendMsg("%d BOOZ_SIM_POS_LLH %f %f %f %f %f %f %f %f %f",
IvySendMsg("%d NPS_RATE_ATTITUDE %f %f %f %f %f %f",
AC_ID,
DegOfRad(fdm.body_ecef_rotvel.p),
DegOfRad(fdm.body_ecef_rotvel.q),
DegOfRad(fdm.body_ecef_rotvel.r),
DegOfRad(fdm.ltp_to_body_eulers.phi),
DegOfRad(fdm.ltp_to_body_eulers.theta),
DegOfRad(fdm.ltp_to_body_eulers.psi));
IvySendMsg("%d NPS_POS_LLH %f %f %f %f %f %f %f %f %f",
AC_ID,
(fdm.lla_pos_pprz.lat),
(fdm.lla_pos_geod.lat),
@@ -136,28 +128,28 @@ void nps_ivy_display(void) {
(fdm.lla_pos_geod.alt),
(fdm.agl),
(fdm.hmsl));
IvySendMsg("%d BOOZ_SIM_SPEED_POS %f %f %f %f %f %f %f %f %f",
AC_ID,
(fdm.ltpprz_ecef_accel.x),
(fdm.ltpprz_ecef_accel.y),
(fdm.ltpprz_ecef_accel.z),
(fdm.ltpprz_ecef_vel.x),
(fdm.ltpprz_ecef_vel.y),
(fdm.ltpprz_ecef_vel.z),
(fdm.ltpprz_pos.x),
(fdm.ltpprz_pos.y),
(fdm.ltpprz_pos.z));
IvySendMsg("%d BOOZ_SIM_GYRO_BIAS %f %f %f",
AC_ID,
DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.x)+sensors.gyro.bias_initial.x),
DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.y)+sensors.gyro.bias_initial.y),
DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.z)+sensors.gyro.bias_initial.z));
IvySendMsg("%d NPS_SPEED_POS %f %f %f %f %f %f %f %f %f",
AC_ID,
(fdm.ltpprz_ecef_accel.x),
(fdm.ltpprz_ecef_accel.y),
(fdm.ltpprz_ecef_accel.z),
(fdm.ltpprz_ecef_vel.x),
(fdm.ltpprz_ecef_vel.y),
(fdm.ltpprz_ecef_vel.z),
(fdm.ltpprz_pos.x),
(fdm.ltpprz_pos.y),
(fdm.ltpprz_pos.z));
IvySendMsg("%d NPS_GYRO_BIAS %f %f %f",
AC_ID,
DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.x)+sensors.gyro.bias_initial.x),
DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.y)+sensors.gyro.bias_initial.y),
DegOfRad(RATE_FLOAT_OF_BFP(sensors.gyro.bias_random_walk_value.z)+sensors.gyro.bias_initial.z));
/* transform magnetic field to body frame */
struct DoubleVect3 h_body;
FLOAT_QUAT_VMULT(h_body, fdm.ltp_to_body_quat, fdm.ltp_h);
IvySendMsg("%d BOOZ_SIM_SENSORS_SCALED %f %f %f %f %f %f",
IvySendMsg("%d NPS_SENSORS_SCALED %f %f %f %f %f %f",
AC_ID,
((sensors.accel.value.x - sensors.accel.neutral.x)/NPS_ACCEL_SENSITIVITY_XX),
((sensors.accel.value.y - sensors.accel.neutral.y)/NPS_ACCEL_SENSITIVITY_YY),
sw/simulator/old_booz/booz2_sim_main.c
+5 -5
View File
@@ -260,13 +260,13 @@ static void booz2_sim_display(void) {
if (sim_time >= disp_time) {
disp_time+= DT_DISPLAY;
// booz_flightgear_send();
IvySendMsg("%d BOOZ_SIM_RPMS %f %f %f %f",
IvySendMsg("%d NPS_RPMS %f %f %f %f",
AC_ID,
RPM_OF_RAD_S(bfm.omega->ve[SERVO_FRONT]),
RPM_OF_RAD_S(bfm.omega->ve[SERVO_BACK]),
RPM_OF_RAD_S(bfm.omega->ve[SERVO_RIGHT]),
RPM_OF_RAD_S(bfm.omega->ve[SERVO_LEFT]) );
IvySendMsg("%d BOOZ_SIM_RATE_ATTITUDE %f %f %f %f %f %f",
IvySendMsg("%d NPS_RATE_ATTITUDE %f %f %f %f %f %f",
AC_ID,
DegOfRad(bfm.ang_rate_body->ve[AXIS_X]),
DegOfRad(bfm.ang_rate_body->ve[AXIS_Y]),
@@ -274,7 +274,7 @@ static void booz2_sim_display(void) {
DegOfRad(bfm.eulers->ve[AXIS_X]),
DegOfRad(bfm.eulers->ve[AXIS_Y]),
DegOfRad(bfm.eulers->ve[AXIS_Z]));
IvySendMsg("%d BOOZ_SIM_SPEED_POS %f %f %f %f %f %f",
IvySendMsg("%d NPS_SPEED_POS %f %f %f %f %f %f",
AC_ID,
(bfm.speed_ltp->ve[AXIS_X]),
(bfm.speed_ltp->ve[AXIS_Y]),
@@ -283,13 +283,13 @@ static void booz2_sim_display(void) {
(bfm.pos_ltp->ve[AXIS_Y]),
(bfm.pos_ltp->ve[AXIS_Z]));
#if 0
IvySendMsg("%d BOOZ_SIM_WIND %f %f %f",
IvySendMsg("%d NPS_WIND %f %f %f",
AC_ID,
bwm.velocity->ve[AXIS_X],
bwm.velocity->ve[AXIS_Y],
bwm.velocity->ve[AXIS_Z]);
#endif
IvySendMsg("%d BOOZ_SIM_ACCEL_LTP %f %f %f",
IvySendMsg("%d NPS_ACCEL_LTP %f %f %f",
AC_ID,
bfm.accel_ltp->ve[AXIS_X],
bfm.accel_ltp->ve[AXIS_Y],