cleaning

sw/ground_segment/cockpit/Makefile

@@ -29,7 +29,7 @@ INCLUDES=-I +lablgtk2 -I ../../lib/ocaml
 LIBS=glibivy-ocaml.cma lablgtk.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma
 CMXA=$(LIBS:.cma=.cmxa)
 
-ML= speech.ml horizon.ml strip.ml pages.ml plugin.ml sectors.ml map2d.ml editFP.ml live.ml gcs.ml
+ML= horizon.ml strip.ml pages.ml speech.ml plugin.ml sectors.ml map2d.ml editFP.ml live.ml gcs.ml
 MAIN=gcs
 CMO=$(ML:.ml=.cmo)
 CMX=$(ML:.ml=.cmx)

sw/ground_segment/cockpit/gcs.ml

@@ -568,7 +568,7 @@ let _main =
   Live.safe_bind "NEW_AIRCRAFT" (fun _sender vs -> Live.one_new_ac geomap ac_notebook (Pprz.string_assoc "ac_id" vs));
 
   (** Listen for all messages on ivy *)
-  Live.listen_flight_params geomap !auto_center_new_ac;
+  Live.listen_flight_params geomap !auto_center_new_ac my_alert;
   Live.listen_wind_msg ();
   Live.listen_fbw_msg ();
   Live.listen_engine_status_msg ();

sw/ground_segment/cockpit/live.ml

@@ -44,7 +44,8 @@ type aircraft = {
     rc_settings_page : Pages.rc_settings option;
     strip : Strip.t;
     mutable first_pos : bool;
-    mutable last_block_name : string
+    mutable last_block_name : string;
+    mutable in_kill_mode : bool
   }
 
 let live_aircrafts = Hashtbl.create 3
@@ -52,32 +53,14 @@ let get_ac = fun vs ->
   let ac_id = Pprz.string_assoc "ac_id" vs in
   Hashtbl.find live_aircrafts ac_id
 
-let aircraft_pos_msg = fun track wgs84 heading altitude speed climb ->
-  let h = 
-    try
-      Srtm.of_wgs84 wgs84
-    with
-      _ -> truncate altitude in
-  track#move_icon wgs84 heading altitude (float_of_int h) speed climb
-
-let carrot_pos_msg = fun track wgs84 ->
-  track#move_carrot wgs84
-
-let cam_pos_msg = fun track wgs84 target_wgs84 ->
-  track#move_cam wgs84 target_wgs84
-
-let circle_status_msg = fun track wgs84 radius ->
-  track#draw_circle wgs84 radius
-
-let segment_status_msg = fun track geo1 geo2 ->
-  track#draw_segment geo1 geo2
-
-let survey_status_msg = fun track geo1 geo2 ->
-  track#draw_zone geo1 geo2
-
-let ap_status_msg = fun track flight_time ->
-  track#update_ap_status flight_time
-    
+let log_and_say = 
+  let last = ref "" in
+  fun (a:Pages.alert) s ->
+    if s <> !last then begin
+      a#add s;
+      Speech.say s;
+      last := s
+    end
 
 let show_mission = fun ac on_off ->
   let a = Hashtbl.find live_aircrafts ac in
@@ -373,9 +356,14 @@ let create_ac = fun (geomap:G.widget) (acs_notebook:GPack.notebook) ac_id config
 				     dl_settings_page = dl_settings_page;
 				     rc_settings_page = rc_settings_page;
 				     strip = strip; first_pos = true;
-				     last_block_name = ""
+				     last_block_name = "";
+				     in_kill_mode = false
 				   }
 
+let ok_color = "green"
+let warning_color = "orange"
+let alert_color = "red"
+
     (** Bind to message while catching all the esceptions of the callback *)
 let safe_bind = fun msg cb ->
   let safe_cb = fun sender vs ->
@@ -412,9 +400,8 @@ let get_fbw_msg = fun _sender vs ->
   Strip.set_label ac.strip "RC" status;
   Strip.set_color ac.strip "RC"
     (match status with
-      "LOST" -> "orange"
-    | "REALLY_LOST" -> "red" 
-    | _ -> "white")
+      "LOST" | "REALLY_LOST" -> warning_color 
+    | _ -> ok_color)
 
     
 
@@ -474,38 +461,38 @@ let highlight_fp = fun ac b s ->
   end
 
 
-let listen_flight_params = fun geomap auto_center_new_ac ->
+let listen_flight_params = fun geomap auto_center_new_ac alert ->
   let get_fp = fun _sender vs ->
     let ac = get_ac vs in
     let pfd_page = ac.pfd_page in
-
-    pfd_page#set_attitude (Pprz.float_assoc "roll" vs) (Pprz.float_assoc "pitch" vs);
-    pfd_page#set_alt (Pprz.float_assoc "alt" vs);
-    pfd_page#set_climb (Pprz.float_assoc "climb" vs);
-    pfd_page#set_speed (Pprz.float_assoc "speed" vs);
-
     let a = fun s -> Pprz.float_assoc s vs in
+    let alt = a "alt"
+    and climb = a "climb"
+    and speed = a "speed" in
+    pfd_page#set_attitude (a "roll") (a "pitch");
+    pfd_page#set_alt alt;
+    pfd_page#set_climb climb;
+    pfd_page#set_speed speed;
+
     let wgs84 = { posn_lat=(Deg>>Rad)(a "lat"); posn_long = (Deg>>Rad)(a "long") } in
-    aircraft_pos_msg ac.track wgs84 (a "course") (a "alt")  (a "speed") (a "climb");
+    ac.track#move_icon wgs84 (a "course") alt speed climb;
 
     if auto_center_new_ac && ac.first_pos then begin
       center geomap ac.track ();
       ac.first_pos <- false
     end;
 
-    let set_label lbl_name field_name =
+    let set_label lbl_name value =
       let s = 
-	if (a field_name) < 0. 
-	then 
-	  "- "^(sprintf "%.1f" (abs_float (a field_name)))
-	else
-	  sprintf "%.1f" (a field_name)
+	if value < 0. 
+	then sprintf "- %.1f" (abs_float value)
+	else sprintf "%.1f" value
       in
       Strip.set_label ac.strip lbl_name s
     in
-    set_label "alt" "alt";
-    set_label "speed" "speed";
-    set_label "climb" "climb"
+    set_label "alt" alt;
+    set_label "speed" speed;
+    set_label "climb" climb
   in
   safe_bind "FLIGHT_PARAM" get_fp;
 
@@ -513,7 +500,7 @@ let listen_flight_params = fun geomap auto_center_new_ac ->
     let ac = get_ac vs in
     let a = fun s -> Pprz.float_assoc s vs in
     let wgs84 = { posn_lat = (Deg>>Rad)(a "target_lat"); posn_long = (Deg>>Rad)(a "target_long") } in
-    carrot_pos_msg ac.track wgs84;
+    ac.track#move_carrot wgs84;
     let cur_block = Pprz.int_assoc "cur_block" vs
     and cur_stage = Pprz.int_assoc "cur_stage" vs in
     highlight_fp ac cur_block cur_stage;
@@ -523,7 +510,7 @@ let listen_flight_params = fun geomap auto_center_new_ac ->
     set_label "/" "target_climb";
     let b = List.assoc cur_block ac.blocks in
     if b <> ac.last_block_name then begin
-      Speech.say (sprintf "%s, %s" ac.ac_name b);
+      log_and_say alert (sprintf "%s, %s" ac.ac_name b);
       ac.last_block_name <- b;
       let b = String.sub b 0 (min 10 (String.length b)) in
       Strip.set_label ac.strip "block_name" b
@@ -535,10 +522,10 @@ let listen_flight_params = fun geomap auto_center_new_ac ->
     let ac_id = Pprz.string_assoc "ac_id" vs in
     let ac = Hashtbl.find live_aircrafts ac_id in
     let a = fun s -> Pprz.float_assoc s vs in
-    let wgs84 = { posn_lat = (Deg>>Rad)(a "cam_lat"); posn_long = (Deg>>Rad)(a "cam_long") }
+    let cam_wgs84 = { posn_lat = (Deg>>Rad)(a "cam_lat"); posn_long = (Deg>>Rad)(a "cam_long") }
     and target_wgs84 = { posn_lat = (Deg>>Rad)(a "cam_target_lat"); posn_long = (Deg>>Rad)(a "cam_target_long") } in
     
-    cam_pos_msg ac.track wgs84 target_wgs84
+    ac.track#move_cam cam_wgs84 target_wgs84
   in
   safe_bind "CAM_STATUS" get_cam_status;
 
@@ -546,7 +533,7 @@ let listen_flight_params = fun geomap auto_center_new_ac ->
     let ac = get_ac vs in
     let a = fun s -> Pprz.float_assoc s vs in
     let wgs84 = { posn_lat = (Deg>>Rad)(a "circle_lat"); posn_long = (Deg>>Rad)(a "circle_long") } in
-    circle_status_msg ac.track wgs84 (float_of_string (Pprz.string_assoc "radius" vs)) 
+    ac.track#draw_circle wgs84 (float_of_string (Pprz.string_assoc "radius" vs)) 
   in
   safe_bind "CIRCLE_STATUS" get_circle_status;
 
@@ -556,7 +543,7 @@ let listen_flight_params = fun geomap auto_center_new_ac ->
     let a = fun s -> Pprz.float_assoc s vs in
     let geo1 = { posn_lat = (Deg>>Rad)(a "segment1_lat"); posn_long = (Deg>>Rad)(a "segment1_long") }
     and geo2 = { posn_lat = (Deg>>Rad)(a "segment2_lat"); posn_long = (Deg>>Rad)(a "segment2_long") } in
-    segment_status_msg ac.track geo1 geo2
+    ac.track#draw_segment geo1 geo2
   in
   safe_bind "SEGMENT_STATUS" get_segment_status;
 
@@ -566,28 +553,35 @@ let listen_flight_params = fun geomap auto_center_new_ac ->
     let a = fun s -> Pprz.float_assoc s vs in
     let geo1 = { posn_lat = (Deg>>Rad)(a "south_lat"); posn_long = (Deg>>Rad)(a "west_long") }
     and geo2 = { posn_lat = (Deg>>Rad)(a "north_lat"); posn_long = (Deg>>Rad)(a "east_long") } in
-    survey_status_msg ac.track geo1 geo2
+    ac.track#draw_zone geo1 geo2
   in
   safe_bind "SURVEY_STATUS" get_survey_status;
 
 
   let get_ap_status = fun _sender vs ->
     let ac = get_ac vs in
-    ap_status_msg ac.track ( float_of_int (Pprz.int32_assoc "flight_time" vs ));
+    ac.track#update_ap_status ( float_of_int (Pprz.int32_assoc "flight_time" vs ));
     let ap_mode = Pprz.string_assoc "ap_mode" vs in
     if ap_mode <> ac.last_ap_mode then begin
-      Speech.say (sprintf "%s, %s" ac.ac_name ap_mode);
+      log_and_say alert (sprintf "%s, %s" ac.ac_name ap_mode);
       ac.last_ap_mode <- ap_mode;
       Strip.set_label ac.strip "AP" (Pprz.string_assoc "ap_mode" vs);
-      Strip.set_color ac.strip "AP" (if ap_mode="HOME" then "red" else "white");
+      Strip.set_color ac.strip "AP" (if ap_mode="HOME" then alert_color else ok_color);
     end;
     let gps_mode = Pprz.string_assoc "gps_mode" vs in
     Strip.set_label ac.strip "GPS" gps_mode;
-    Strip.set_color ac.strip "GPS" (if gps_mode<>"3D" then "red" else "white");
+    Strip.set_color ac.strip "GPS" (if gps_mode<>"3D" then alert_color else ok_color);
     let ft = 
       let t = Int32.to_int (Int32.of_string (Pprz.string_assoc "flight_time" vs)) in
       sprintf "%02d:%02d:%02d" (t / 3600) ((t mod 3600) / 60) ((t mod 3600) mod 60) in
     Strip.set_label ac.strip "flight_time" ft;
+    let kill_mode = Pprz.string_assoc "kill_mode" vs in
+    if not ac.in_kill_mode then
+      if kill_mode <> "OFF" then begin
+	log_and_say alert (sprintf "%s, mayday, kill mode" ac.ac_name);
+	ac.in_kill_mode <- true
+      end else
+	ac.in_kill_mode <- false;
     match ac.rc_settings_page with
       None -> ()
     | Some p -> 
@@ -617,15 +611,9 @@ let listen_waypoint_moved = fun () ->
   safe_bind "WAYPOINT_MOVED" get_values
     
 let get_alert_bat_low = fun a _sender vs -> 
-  let ac_id = Pprz.string_assoc "ac_id" vs in
-  let ac_name = ref "" in
+  let ac = get_ac vs in
   let level = Pprz.string_assoc "level" vs in
-  let get_config = fun _sender config ->
-    ac_name := Pprz.string_assoc "ac_name" config;
-    a#add (!ac_name^" "^"BAT_LOW"^" "^level)
-  in
-  Ground_Pprz.message_req "map2d" "CONFIG" ["ac_id", Pprz.String ac_id] get_config
-    
+  log_and_say a (sprintf "%s %s %s" ac.ac_name "BAT_LOW" level)
 
 let listen_alert = fun a -> 
   alert_bind "BAT_LOW" (get_alert_bat_low a)
@@ -668,7 +656,7 @@ let get_ts = fun _sender vs ->
   let ac = get_ac vs in
   let t = Pprz.float_assoc "time_since_last_bat_msg" vs in
   Strip.set_label ac.strip "telemetry_status" (if t > 2. then sprintf "%.1f" t else "   ");
-  Strip.set_color ac.strip "telemetry_status" (if t > 5. then "red" else "green")
+  Strip.set_color ac.strip "telemetry_status" (if t > 5. then alert_color else ok_color)
   
 
 let listen_telemetry_status = fun () ->

sw/ground_segment/cockpit/live.mli

@@ -4,7 +4,7 @@ val aircrafts_msg : MapCanvas.widget -> GPack.notebook -> Pprz.values -> unit
 val safe_bind : string -> (string -> Pprz.values -> unit) -> unit
 val one_new_ac : MapCanvas.widget -> GPack.notebook -> string -> unit
 val listen_flight_params :
-  < center : MapCanvas.LL.geographic -> unit; .. > -> bool -> unit
+  < center : MapCanvas.LL.geographic -> unit; .. > -> bool -> Pages.alert -> unit
 val listen_wind_msg : unit -> unit
 val listen_fbw_msg : unit -> unit
 val listen_engine_status_msg : unit -> unit
@@ -12,5 +12,5 @@ val listen_if_calib_msg : unit -> unit
 val listen_waypoint_moved : unit -> unit
 val listen_infrared : unit -> unit
 val listen_svsinfo : unit -> unit
-val listen_alert : < add : string -> unit; .. > -> unit
+val listen_alert : Pages.alert -> unit
 val listen_telemetry_status : unit -> unit

sw/ground_segment/cockpit/pages.ml

@@ -39,13 +39,15 @@ class alert (widget: GBin.frame) =
   in
   let view = GText.view ~editable:false ~packing: scrolled#add () in
 (* the object itselft *)
-object
-  val active = Hashtbl.create 5
+  object (self)
+    val mutable last = ""
     method add text = 
-    if not (Hashtbl.mem active text) then begin
+      if text <> last then begin
+	let l = Unix.localtime (Unix.gettimeofday ()) in
+	view#buffer#insert (sprintf "%2d:%2d:%2d " l.Unix.tm_hour l.Unix.tm_min l.Unix.tm_sec);
 	view#buffer#insert text;
 	view#buffer#insert "\n";
-      Hashtbl.add active text ()
+	last <- text
       end
  end
 

sw/ground_segment/cockpit/strip.ml

@@ -97,6 +97,7 @@ let add config color select center_ac commit_moves mark =
     (** set a label *)
 let set_label strip name value = 
   let _eb, l = List.assoc (name^"_value") strip.labels in
+  if l#text <> value then
     l#set_label value
 
     (** set a label *)

sw/lib/ocaml/Makefile

@@ -24,8 +24,8 @@ Q=@
 
 INCLUDES= -I +xml-light
 XINCLUDES= -I +lablgl -I +lablgtk2 -I +xml-light
-OCAMLC=ocamlc $(INCLUDES)
-OCAMLOPT=ocamlopt $(INCLUDES)
+OCAMLC=ocamlc
+OCAMLOPT=ocamlopt
 
 
 SRC = debug.ml env.ml serial.ml ocaml_tools.ml extXml.ml xml2h.ml latlong.ml srtm.ml http.ml gm.ml iGN.ml wavecard.ml geometry_2d.ml geometry_3d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml
@@ -60,38 +60,38 @@ xlib-pprz.cmxa : $(XCMX)
 
 xml_get.out : lib-pprz.cma xml_get.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -o $@ str.cma xml-light.cma -I . $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ str.cma xml-light.cma -I . $^
 
 GTKCFLAGS := -I /usr/lib/gtk-2.0/include -I/usr/include/gtk-2.0 -I/usr/include/atk-1.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/include/pango-1.0 -I /usr/include/cairo
 # GTKCFLAGS := $(shell gtk-config --cflags)
 
 %.o   : %.c
 	@echo OC $<
-	$(Q)$(OCAMLC) -c $<
+	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
 ml_gtk_drag.o : ml_gtk_drag.c
 	@echo OC $<
-	$(Q)$(OCAMLC) -c -ccopt "$(GTKCFLAGS)" $<
+	$(Q)$(OCAMLC) $(INCLUDES) -c -ccopt "$(GTKCFLAGS)" $<
 
 ml_gtkgl_hack.o   : ml_gtkgl_hack.c
 	@echo OC $<
-	$(Q)$(OCAMLC) -c -ccopt "$(GTKCFLAGS)" $<
+	$(Q)$(OCAMLC) $(INCLUDES) -c -ccopt "$(GTKCFLAGS)" $<
 
 %.cmo : %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) -c $<
+	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
 %.cmx : %.ml
 	@echo OOC $<
-	$(Q)$(OCAMLOPT) -c $<
+	$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
 
 %.cmi : %.mli
 	@echo OC $<
-	$(Q)$(OCAMLC) $<
+	$(Q)$(OCAMLC) $(INCLUDES) $<
 
 %.cmi : %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $<
+	$(Q)$(OCAMLC) $(INCLUDES) $<
 
 clean :
 	rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so

sw/lib/ocaml/mapTrack.ml

@@ -91,9 +91,8 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
   let _desired_circle = GnoCanvas.ellipse group
   and _desired_segment = GnoCanvas.line group in
     
-
- let top = ref 0  in
   object (self)
+    val mutable top = 0
     val mutable color = color
     val mutable segments = Array.create size empty
     val mutable v_segments = Array.create size empty
@@ -102,9 +101,6 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
     val mutable last_altitude = 0.0
     val mutable last_speed = 0.0
     val mutable last_climb = 0.0
-    val mutable last_height = 0.0
-    val mutable last_xw = 0.0
-    val mutable last_yw = 0.0
     val mutable last_flight_time = 0.0
     val mutable last_x_val = 0.0
     val mutable cam_on = false
@@ -112,25 +108,25 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
     val mutable v_params_on = false
     val mutable desired_track = NoDesired
     val zone = GnoCanvas.rect group
-    val mutable ac_cam_cover = GnoCanvas.rect cam
+    val mutable ac_cam_cover = GnoCanvas.rect ~fill_color:"grey" ~props:[`WIDTH_PIXELS 1 ; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] cam
     method color = color
     method set_color c = color <- c
     method track = track
     method aircraft = aircraft
     method set_label = fun s -> ac_label#set [`TEXT s]
-    method clear_one = fun i seg ->
-      if seg.(i) != empty then begin
-	(snd seg.(i))#destroy ();
-	seg.(i) <- empty
+    method clear_one = fun i ->
+      if segments.(i) != empty then begin
+	(snd segments.(i))#destroy ();
+	segments.(i) <- empty
       end
     method incr = fun seg ->
       let s = Array.length seg in
-      top := (!top + 1) mod s
-    method clear = fun seg top ->
-      for i = 0 to Array.length seg - 1 do
-	self#clear_one i seg
+      top <- (top + 1) mod s
+    method clear = fun () ->
+      for i = 0 to Array.length segments - 1 do
+	self#clear_one i
       done;
-      top := 0
+      top <- 0
     method set_cam_state = fun b ->
       cam_on <- b;
       if b then begin
@@ -143,7 +139,10 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
 
     method update_ap_status = fun time -> 
       last_flight_time <- time
-    method set_params_state = fun b -> params_on <- b 
+    method set_params_state = fun b -> 
+      params_on <- b;
+      if not b then (* Reset to the default simple label *)
+	ac_label#set [`TEXT name; `Y 25.]
     method set_v_params_state = fun b -> v_params_on <- b
     method set_last = fun x -> last <- x
     method last = last
@@ -151,37 +150,42 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
     method last_heading = last_heading
     method last_altitude = last_altitude
 
+    method height = fun () ->
+      match last with
+	None -> last_altitude
+      | Some wgs84 ->
+	  let h = try float (Srtm.of_wgs84 wgs84) with _ -> 0. in
+	  last_altitude -. h
+
     (** add track points on map2D, according to the
        track parameter *)
-    method add_point = fun geo seg set_last_point last_point top track ->
-      self#clear_one (!top) seg ;
-      begin
-	match last_point with
-	  None -> 
-	    seg.((!top)) <- (geo, geomap#segment ~group:track ~fill_color:color geo geo)
-	| Some last_geo ->
-	    seg.((!top)) <- (geo, geomap#segment ~group:track ~width:2 ~fill_color:color last_geo geo);
-      end;
-      self#incr seg;
-      (set_last_point (Some geo) : unit)
+    method add_point = fun geo ->
+      self#clear_one top;
+      let last_geo =
+	match last with
+	  None -> geo
+	| Some last_geo -> last_geo in
+      segments.(top) <- (geo, geomap#segment ~group ~fill_color:color last_geo geo);
+      self#incr segments;
+      self#set_last (Some geo)
 
-    method clear_map2D = self#clear segments top 
+    method clear_map2D = self#clear ()
 
-    method move_icon = fun wgs84 heading altitude relief_height speed climb ->
+    method move_icon = fun wgs84 heading altitude speed climb ->
       let (xw,yw) = geomap#world_of wgs84 in
       aircraft#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw heading);
       last_heading <- heading;
       last_altitude <- altitude;
-      last_yw <- yw;
-      last_height <- (altitude -. relief_height);
       last_speed <- speed ;
       last_climb <- climb;
 
-      if params_on then
-	  ac_label#set [`TEXT ( name^" \n"^(string_of_float last_height)^" m\n"^(string_of_float last_speed)^" m/s\n" ); `Y 70. ] else
-	ac_label#set [`TEXT name; `Y 25.];
+      if params_on then begin
+	let last_height = self#height () in
+	ac_label#set [`TEXT ( name^" \n"^(string_of_float last_height)^" m\n"^(string_of_float last_speed)^" m/s\n" ); `Y 70. ]
+      end;
+      
       ac_label#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw 0.);
-      self#add_point wgs84 segments (self#set_last) last top group;
+      self#add_point wgs84;
 
     method move_carrot = fun wgs84 ->
       let (xw,yw) = geomap#world_of wgs84 in
@@ -225,22 +229,19 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
       zone#set [`X1 x1; `Y1 y1; `X2 x2; `Y2 y2; `OUTLINE_COLOR "#ffc0c0"; `WIDTH_PIXELS 2]
 	  
 (** moves the rectangle representing the field covered by the camera *)
-    method move_cam = fun wgs84 mission_target_wgs84 ->
-      if cam_on then
-	let (xw,yw) = geomap#world_of wgs84 in 
-	let (mission_target_xw, mission_target_yw) = geomap#world_of mission_target_wgs84 in
-	let last_height_scaled = last_height in
+    method move_cam = fun cam_wgs84 mission_target_wgs84 ->
+      match last, cam_on with
+	Some last_ac, true ->
+	  let (cam_xw, cam_yw) = geomap#world_of cam_wgs84
+	  and (last_xw, last_yw) = geomap#world_of last_ac
+	  and last_height_scaled = self#height () in
 	
-(** all data are at map scale *)
-	
-	begin
 	  let pt1 = { G2d.x2D = last_xw; y2D = last_yw} in
-	let pt2 = { G2d.x2D = xw ; y2D = yw } in
+	  let pt2 = { G2d.x2D = cam_xw ; y2D = cam_yw } in
 	  
 (** y axis is downwards so North vector is as follows: *)
-	let vect_north = (G2d.vect_make  { G2d.x2D = 0.0 ; y2D = 0.0 } { G2d.x2D = 0.0 ; y2D = -1.0 } ) in
+	  let vect_north = { G2d.x2D = 0.0 ; y2D = -1.0 } in
 	  let d = G2d.distance pt1 pt2 in
-	begin
 	  let cam_heading = 
 	    if d > min_distance_scaled then
 	      let cam_vect_normalized = (G2d.vect_normalize (G2d.vect_make pt1 pt2)) in
@@ -249,52 +250,54 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
 		else norm_angle_360 ( G2d.rad2deg (G2d.m_pi -. asin (G2d.cross_product vect_north cam_vect_normalized)))
 	    else last_heading in
 	  let (angle_of_view, oblic_distance) = 
-	    if last_height < min_height_scaled then 
+	    if last_height_scaled < min_height_scaled then 
 	      (half_pi, max_oblic_distance_scaled)
 	    else
 	      let oav = atan ( d /. last_height_scaled) in
 	      (oav, last_height_scaled /. (cos oav))
 	  in
 	  let alpha_1 = angle_of_view +. cam_half_aperture in
-	  begin
 	  let cam_field_half_height_1 =
 	    if alpha_1 < half_pi then
 	      (tan alpha_1) *. last_height_scaled -. d
 	    else max_cam_half_height_scaled in
 	  let cam_field_half_height_2 = d -. (tan ( angle_of_view -. cam_half_aperture)) *. last_height_scaled in
 	  let cam_field_half_width = ( tan (cam_half_aperture) ) *. oblic_distance in
-	    begin
-(***	      Printf.printf "dist %.2f aoview %.2f oblic_distance %.2f cfh1 %.2f cfh2 %.2f cfhw %.2f last_xw %.2f last_yw %.2f cam_heading %.2f \n%!" (d  *. (geomap#get_world_unit ()) ) angle_of_view (oblic_distance  *. (geomap#get_world_unit ()) ) (cam_field_half_height_1  *. (geomap#get_world_unit ()) ) (cam_field_half_height_2  *. (geomap#get_world_unit ()) ) (cam_field_half_width  *. (geomap#get_world_unit ()) ) last_xw last_yw cam_heading; ***)
-	      
-	      ac_cam_cover#destroy ();
-	      ac_cam_cover <- GnoCanvas.rect ~x1:(-. cam_field_half_width) ~y1:(-. cam_field_half_height_1) ~x2:(cam_field_half_width) ~y2:(cam_field_half_height_2) ~fill_color:"grey" ~props:[`WIDTH_PIXELS 1 ; `OUTLINE_COLOR color; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] cam
-	    end
-	  end;
-	  cam#affine_absolute (affine_pos_and_angle 1.0 xw yw cam_heading);
+	  ac_cam_cover#set [`X1 (-. cam_field_half_width);
+			    `Y1 (-. cam_field_half_height_1);
+			    `X2 (cam_field_half_width);
+			    `Y2(cam_field_half_height_2);
+			    `OUTLINE_COLOR color];	  
+	  cam#affine_absolute (affine_pos_and_angle 1.0 cam_xw cam_yw cam_heading);
+	  let (mission_target_xw, mission_target_yw) = geomap#world_of mission_target_wgs84 in
 	  mission_target#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value mission_target_xw mission_target_yw 0.0)
-	end;
-      end
+      | _ -> ()
 	
     method zoom = fun z ->
       let a = aircraft#i2w_affine in
       let z' = sqrt (a.(0)*.a.(0)+.a.(1)*.a.(1)) in
       for i = 0 to 3 do a.(i) <- a.(i) /. z' *. 1./.z done;
       aircraft#affine_absolute a
+
     method resize =  fun new_size ->
       let a = Array.create new_size empty in
       let size =  Array.length segments in	
       let m = min new_size size in
-	let j = ref ((!top - m + size) mod size) in
+      let j = ref ((top - m + size) mod size) in
       for i = 0 to m - 1 do
 	a.(i) <- segments.(!j);
 	j := (!j + 1) mod size
       done;
       for i = 1 to size - new_size do (* Never done if new_size > size *)
-	  self#clear_one !j segments;
+	self#clear_one !j;
 	j := (!j + 1) mod size
       done;
-	top := m mod new_size;
+      top <- m mod new_size;
       segments <- a
+
     method size = Array.length segments
-    initializer ignore(geomap#zoom_adj#connect#value_changed (fun () -> self#zoom geomap#zoom_adj#value))
+
+    initializer 
+      ignore(geomap#zoom_adj#connect#value_changed 
+	       (fun () -> self#zoom geomap#zoom_adj#value))
 end