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This commit is contained in:
Antoine Drouin
2006-02-28 17:29:26 +00:00
parent b0d5deeed4
commit 2f29df9eaf
2 changed files with 69 additions and 3 deletions
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sw/simulator/Makefile
+4 -1
View File
@@ -53,7 +53,7 @@ SIMDIR=$(shell echo `pwd`)
#all : simhitl.out sitl.cma $(GEN_DOWNLINK)
all : gaia sitl.cma $(GEN_DOWNLINK)
all : gaia sitl.cma $(GEN_DOWNLINK) fg.o
sim_sitl : $(OBJDIR)/simsitl
@@ -63,6 +63,9 @@ simhitl.out : $(SIMHCMO) simhitl.cmo
sitl.cma : fg.o $(SIMSCMO)
ocamlc -o $@ -a $^
fg.o : fg.c
$(OCAMLC) -cclib -lm fg.c
sitl.cmxa : $(SIMSCMX)
ocamlopt -o $@ -a $^
sw/simulator/fg.c
+65 -2
View File
@@ -5,16 +5,21 @@
#include <caml/mlvalues.h>
#include <caml/memory.h>
#include <math.h>
#include <time.h>
#include "flight_gear.h"
value fg_msg(value x, value y, value z, value phi) {
CAMLparam4(x, y, z, phi);
CAMLlocal1(s);
#if 0
const double earth_radius = 6372795.;
double lat = 0.656480 + asin(Double_val(x)/earth_radius);
double lon = -2.135537 + asin(Double_val(y)/earth_radius);
struct FGNetGUI msg;
msg.version = FG_NET_GUI_VERSION;
@@ -25,14 +30,14 @@ value fg_msg(value x, value y, value z, value phi) {
msg.phi = Double_val(phi);
msg.theta = 0.;
msg.psi = 0.;
msg.vcas = 0.;
msg.climb_rate = 0.;
msg.num_tanks = 1;
msg.fuel_quantity[0] = 10.;
msg.cur_time = 3213082700ul;
msg.cur_time = time(NULL);
msg.warp = 0;
msg.ground_elev = 0.;
@@ -41,6 +46,64 @@ value fg_msg(value x, value y, value z, value phi) {
msg.in_range = 1;
msg.course_deviation_deg = 12.;
msg.gs_deviation_deg = 123.;
#endif
static double _x = 0.;
static double _y = 0.;
static double _z = 10;
const double v = 150.;
const double psi = 292.80 * M_PI / 180.;
const double vx = v * cos(psi);
const double vy = v * sin(psi);
const double vz = 1.;
const double dt = 0.01666666;
_x += vx * dt;
_y += vy * dt;
_z += vz * dt;
const double earth_radius = 6372795.;
double lat = 0.656480 + asin(_x/earth_radius);
double lon = -2.135537 + asin(_y/earth_radius);
struct FGNetGUI msg;
// net_gui_init(&gui);
msg.version = FG_NET_GUI_VERSION;
// gui.latitude = 0.656480;
// gui.longitude = -2.135537;
// gui.altitude = 0.807609;
msg.agl = 1.111652;
msg.phi = 0.;
msg.theta = 0.;
msg.psi = 5.20;
msg.vcas = 0.;
msg.climb_rate = 0.;
msg.num_tanks = 1;
msg.fuel_quantity[0] = 0.;
msg.cur_time = 3198060679ul;
msg.warp = 1122474394ul;
msg.ground_elev = 0.;
msg.tuned_freq = 125.65;
msg.nav_radial = 90.;
msg.in_range = 1;
msg.dist_nm = 10.;
msg.course_deviation_deg = 0.;
msg.gs_deviation_deg = 0.;
msg.latitude = lat;
msg.longitude = lon;
msg.altitude = _z;
s = alloc_string(sizeof(msg));
strncpy(String_val(s), (char*)&msg, sizeof(msg));