receive.ml -> server.ml, airprox.ml and aircraft.ml

sw/ground_segment/tmtc/aircraft.ml

@@ -0,0 +1,113 @@
+(*
+ * $Id$
+ *
+ * Copyright (C) ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+type ac_cam = {
+    mutable phi : float; (* Rad, right = >0 *)
+    mutable theta : float; (* Rad, front = >0 *)
+  }
+
+type inflight_calib = {
+    mutable if_mode : int; (* DOWN|OFF|UP *)
+    mutable if_val1 : float;
+    mutable if_val2 : float
+  }
+
+type contrast_status = string (** DEFAULT|WAITING|SET *)
+type infrared = {
+    mutable gps_hybrid_mode : int;
+    mutable gps_hybrid_factor : float;
+    mutable contrast_status : contrast_status;
+    mutable contrast_value : int
+  }
+
+type rc_status = string (** OK, LOST, REALLY_LOST *)
+type rc_mode = string (** MANUAL, AUTO, FAILSAFE *)
+type fbw = {
+    mutable rc_status : rc_status;
+    mutable rc_mode : rc_mode;
+  }
+
+let gps_nb_channels = 16
+type svinfo = {  
+    svid : int;
+    flags : int;
+    qi : int;
+    cno : int;
+    elev : int;
+    azim : int
+  }
+
+let svinfo_init = {  
+    svid = 0 ;
+    flags = 0;
+    qi = 0;
+    cno = 0;
+    elev = 0;
+    azim = 0;
+  }
+
+type horiz_mode = 
+    Circle of Latlong.utm * int
+  | Segment of Latlong.utm * Latlong.utm
+  | UnknownHorizMode
+
+type aircraft = { 
+    id : string;
+    mutable pos : Latlong.utm;
+    mutable roll    : float;
+    mutable pitch   : float;
+    mutable nav_ref    : Latlong.utm;
+    mutable desired_east    : float;
+    mutable desired_north    : float;
+    mutable desired_altitude    : float;
+    mutable desired_course : float;
+    mutable desired_climb : float;
+    mutable gspeed  : float;
+    mutable course  : float;
+    mutable alt     : float;
+    mutable climb   : float;
+    mutable cur_block : int;
+    mutable cur_stage : int;
+    mutable throttle : float;
+    mutable throttle_accu : float;
+    mutable rpm  : float;
+    mutable temp : float;
+    mutable bat  : float;
+    mutable amp : float;
+    mutable energy  : int;
+    mutable ap_mode : int;
+    mutable gaz_mode : int;
+    mutable lateral_mode : int;
+    mutable horizontal_mode : int;
+    cam : ac_cam;
+    mutable gps_mode : int;
+    inflight_calib : inflight_calib;
+    infrared : infrared;
+    fbw : fbw;
+    svinfo : svinfo array;
+    mutable flight_time : int;
+    mutable stage_time : int;
+    mutable block_time : int;
+    mutable horiz_mode : horiz_mode
+  }