diff --git a/conf/airframes/plaster1.xml b/conf/airframes/plaster1.xml index b49bfaeb82..16744ba333 100755 --- a/conf/airframes/plaster1.xml +++ b/conf/airframes/plaster1.xml @@ -5,8 +5,8 @@ - - + + @@ -21,27 +21,28 @@
- +
- + - + - + + -
+
- - + + - +
@@ -52,8 +53,8 @@
- - + +
@@ -63,7 +64,7 @@
- +
@@ -72,3 +73,7 @@
+ + + + diff --git a/conf/conf.xml b/conf/conf.xml index 9f007171b6..404ee0892f 100644 --- a/conf/conf.xml +++ b/conf/conf.xml @@ -1,6 +1,20 @@ + + - + - + + + + diff --git a/sw/airborne/autopilot/mainloop.c b/sw/airborne/autopilot/mainloop.c index dd29e2afc1..420b4feafa 100644 --- a/sw/airborne/autopilot/mainloop.c +++ b/sw/airborne/autopilot/mainloop.c @@ -69,8 +69,6 @@ int main( void ) { nav_init(); ir_init(); estimator_init(); - uart0_init(); - /** - start interrupt task */ sei(); diff --git a/sw/ground_segment/cockpit/Paparazzi/Strip.pm b/sw/ground_segment/cockpit/Paparazzi/Strip.pm index 059d572cd8..781f45761e 100644 --- a/sw/ground_segment/cockpit/Paparazzi/Strip.pm +++ b/sw/ground_segment/cockpit/Paparazzi/Strip.pm @@ -92,7 +92,7 @@ sub completeinit { ap_mode => { 'MANUAL' => 'sienna', 'AUTO1' => 'blue', 'AUTO2' => 'brown', 'HOME' => 'red'}, rc_status => {'OK' => 'brown', 'LOST' => 'orange', 'REALLY_LOST' => 'red'}, rc_mode => {'AUTO'=> 'orange', 'MANUAL' => 'brown', 'FAILSAFE' => 'red'}, - contrast_status => {'DEFAULT' => 'orange', 'WAITING' => 'brown', 'SET' => 'set'}, + contrast_status => {'DEFAULT' => 'orange', 'WAITING' => 'brown', 'SET' => 'green'}, gps_mode => {'NOFIX' => 'red', 'DRO' => 'red', '2D' => 'orange', '3D' => 'brown', 'GPSDRO' => 'red'}, }; diff --git a/sw/ground_segment/cockpit/map2d.ml b/sw/ground_segment/cockpit/map2d.ml index ab2b96ce33..c69af3cc53 100644 --- a/sw/ground_segment/cockpit/map2d.ml +++ b/sw/ground_segment/cockpit/map2d.ml @@ -25,7 +25,6 @@ *) open Printf -open Srtm open Latlong module Ground_Pprz = Pprz.Protocol(struct let name = "ground" end) @@ -39,7 +38,7 @@ module G = MapCanvas let home = Env.paparazzi_home let (//) = Filename.concat -let default_path_SRTM = home // "data" // "SRTM" +let default_path_srtm = home // "data" // "srtm" let default_path_maps = home // "data" // "maps" // "" let default_path_missions = home // "conf" @@ -138,7 +137,12 @@ let aircraft_pos_msg = fun track utm_x_ utm_y_ heading altitude -> | Some utm0 -> let en = {G.east = utm_x_ -. utm0.utm_x; north = utm_y_ -. utm0.utm_y } in track#add_point en; - let h = Srtm.of_utm { utm_zone = utm0.utm_zone; utm_x = utm_x_; utm_y = utm_y_} in + let h = + try + Srtm.of_utm { utm_zone = utm0.utm_zone; utm_x = utm_x_; utm_y = utm_y_} + with + _ -> truncate altitude + in track#move_icon en heading altitude (float_of_int h) let carrot_pos_msg = fun track utm_x utm_y -> @@ -312,9 +316,7 @@ let _ = Ivy.init "Paparazzi map 2D" "READY" (fun _ _ -> ()); Ivy.start !ivy_bus; - Srtm.add_path default_path_SRTM; - - Srtm.add_path (Env.paparazzi_home ^ "/data/srtm"); + Srtm.add_path default_path_srtm; let window = GWindow.window ~title: "Map2d" ~border_width:1 ~width:400 () in let vbox= GPack.vbox ~packing: window#add () in diff --git a/sw/ground_segment/tmtc/receive.ml b/sw/ground_segment/tmtc/receive.ml index 89f6a65065..065a7dd514 100644 --- a/sw/ground_segment/tmtc/receive.ml +++ b/sw/ground_segment/tmtc/receive.ml @@ -476,7 +476,7 @@ let send_config = fun _asker args -> try let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac_id) in let ac_name = ExtXml.attrib conf "name" in - let prefix = fun s -> sprintf "http://%s:8889/%s" (Unix.gethostname ()) s in + let prefix = fun s -> sprintf "http://%s:8889/%s" "localhost" s in (** Expanded flight plan has been compiled in var/ *) let fp = prefix ("var" // ac_name // "flight_plan.xml") and af = prefix ("conf" // ExtXml.attrib conf "airframe") diff --git a/sw/lib/perl/Paparazzi/Airframe.pm b/sw/lib/perl/Paparazzi/Airframe.pm index 644441c79f..33d25238a8 100644 --- a/sw/lib/perl/Paparazzi/Airframe.pm +++ b/sw/lib/perl/Paparazzi/Airframe.pm @@ -20,6 +20,7 @@ sub completeinit { my $self = shift; $self->SUPER::completeinit(); my $airframe_url = $self->get('-url'); + print "airframe url $airframe_url\n"; my $airframe_xml = LWP::Simple::get($airframe_url); $self->parse_airframe($airframe_xml) if defined $airframe_xml; }