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remove wrong ECEF (height above the ellipsoid is not available in the flight plan)

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add llh waypoints
This commit is contained in:
Pascal Brisset
2009-09-18 15:35:52 +00:00
parent 2875a1a446
commit 36a8ab54a9
1 changed files with 12 additions and 27 deletions
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sw/tools/gen_flight_plan.ml
+12 -27
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@@ -118,25 +118,15 @@ let print_waypoint = fun default_alt waypoint ->
check_altitude (float_of_string alt) waypoint;
printf " {%.1f, %.1f, %s},\\\n" x y alt
(*
let print_waypoint_int32 = fun default_alt waypoint ->
let (x, y) = (float_attrib waypoint "x", float_attrib waypoint "y")
and alt = float_of_string (try Xml.attrib waypoint "alt" with _ -> default_alt) in
let pow8 = 2. ** 8. in
let x_int = truncate (x *. pow8) and
y_int = truncate (y *. pow8) and
alt_int = truncate (alt *. pow8) in
printf " {%d, %d, %d},\\\n" x_int y_int alt_int
*)
let convert_angle = fun rad -> truncate (1e7 *. (Rad>>Deg)rad)
(*
let print_waypoint_latlong = fun utm0 default_alt waypoint ->
let (x, y) = (float_attrib waypoint "x", float_attrib waypoint "y")
let print_waypoint_lla = fun utm0 default_alt waypoint ->
let x = float_attrib waypoint "x"
and y = float_attrib waypoint "y"
and alt = try Xml.attrib waypoint "alt" with _ -> default_alt in
let wgs84 = Latlong.of_utm Latlong.WGS84 (Latlong.utm_add utm0 (x, y)) in
printf " {%d, %d, %.0f},\\\n" (convert_angle wgs84.posn_lat) (convert_angle wgs84.posn_long) (100. *. float_of_string alt)
*)
printf " {%d, %d, %.0f}, /* 1e7deg, 1e7deg, cm */ \\\n" (convert_angle wgs84.posn_lat) (convert_angle wgs84.posn_long) (100. *. float_of_string alt)
let index_of_blocks = ref []
@@ -760,14 +750,9 @@ let () =
Xml2h.define "NAV_UTM_EAST0" (sprintf "%.0f" utm0.utm_x);
Xml2h.define "NAV_UTM_NORTH0" (sprintf "%.0f" utm0.utm_y);
Xml2h.define "NAV_UTM_ZONE0" (sprintf "%d" utm0.utm_zone);
Xml2h.define "NAV_LAT0" (sprintf "%d" (convert_angle wgs84.posn_lat));
Xml2h.define "NAV_LON0" (sprintf "%d" (convert_angle wgs84.posn_long));
let ecef0 = Latlong.ecef_of_geo Latlong.WGS84 wgs84 !ground_alt in
let ecef0 = Latlong.array_of_ecef ecef0 in
Xml2h.define "NAV_ECEF_X0" (sprintf "%.0f" (cm ecef0.(0)));
Xml2h.define "NAV_ECEF_Y0" (sprintf "%.0f" (cm ecef0.(1)));
Xml2h.define "NAV_ECEF_Z0" (sprintf "%.0f" (cm ecef0.(2)));
Xml2h.define "NAV_LAT0" (sprintf "%d /* 1e7deg */" (convert_angle wgs84.posn_lat));
Xml2h.define "NAV_LON0" (sprintf "%d /* 1e7deg */" (convert_angle wgs84.posn_long));
Xml2h.define "NAV_ALT0" (sprintf "%.0f /* cm hmsl */" (100. *. !ground_alt));
Xml2h.define "QFU" (sprintf "%.1f" qfu);
@@ -780,9 +765,9 @@ let () =
Xml2h.define "WAYPOINTS" "{ \\";
List.iter (print_waypoint alt) waypoints;
lprintf "};\n";
(*Xml2h.define "WAYPOINTS_INT32" "{ \\";
List.iter (print_waypoint_int32 alt) waypoints;
lprintf "};\n";*)
Xml2h.define "WAYPOINTS_LLA" "{ \\";
List.iter (print_waypoint_lla utm0 alt) waypoints;
lprintf "};\n";
Xml2h.define "NB_WAYPOINT" (string_of_int (List.length waypoints));
Xml2h.define "NB_BLOCK" (string_of_int (List.length blocks));