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This commit is contained in:
Antoine Drouin
2006-12-13 20:01:22 +00:00
parent 6f1e1bb6c7
commit 4364e2d596
4 changed files with 15 additions and 79 deletions
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sw/logalizer/Makefile
+10 -4
View File
@@ -58,14 +58,20 @@ disp3d: disp3d.c
test1: test1.c
$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS) -lglut
test3: test3.c sliding_plot.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
clean:
rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview imuview ahrs2fg
FGFS_ROOT = /home/poine/work/flightgear_cvs
#FGFS = $(FGFS_ROOT)/bin/fgfs
FGFS = fgfs
FGFS_ENV = LD_LIBRARY_PATH=/usr/local/lib:$(FGFS_ROOT)/lib
#FGFS_PREFIX=/home/poine/local
FGFS_PREFIX=/usr/local
FGFS_ROOT = /home/poine/local
#FGFS = $(FGFS_PREFIX)/bin/fgfs
FGFS = /usr/games/fgfs
#FGFS_ENV = LD_LIBRARY_PATH=/usr/local/lib:$(FGFS_ROOT)/lib
FGFS_ENV = LD_LIBRARY_PATH=$(FGFS_ROOT)/lib
#FGFS_COMMON_ARGS = --fg-root=$(FGFS_ROOT) --aircraft=A320 --timeofday=noon
FGFS_COMMON_ARGS = --aircraft=737-300 --timeofday=noon
FGFS_IN_FDM_ARGS = $(FGFS_COMMON_ARGS) --fdm=null --native-fdm=socket,in,30,,5501,udp
sw/logalizer/ahrs_utils.h
+1 -1
View File
@@ -198,7 +198,7 @@ static inline float ahrs_pitch_of_accel( const float* accel) {
*/
static inline float ahrs_yaw_of_mag( const int16_t* mag ) {
const float ctheta = cos( ahrs_theta );
#if 1
#if 0
const float mn = ctheta * mag[0]
- (dcm12 * mag[1] + dcm22 * mag[2]) * dcm02 / ctheta;
sw/logalizer/ahrsview.c
+1 -1
View File
@@ -45,7 +45,7 @@ int main (int argc, char** argv) {
gtk_init(&argc, &argv);
GtkWidget *window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_widget_set_size_request (window, 1280, 480);
gtk_widget_set_size_request (window, 640, 400);
GtkWidget *vbox1 = gtk_vbox_new (FALSE, 0);
gtk_container_add (GTK_CONTAINER (window), vbox1);
sw/logalizer/disp3d.c
+3 -73
View File
@@ -35,17 +35,6 @@
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#ifndef M_PI
#define M_PI 3.14
#endif
/* #define FULLSCREEN_MESA_3DFX /* uncomment this to get 3DFX acceleration */
#ifdef FULLSCREEN_MESA_3DFX
#include <GL/xmesa.h>
#endif
static GLfloat yellow[4] = { 0.90, 0.90, 0.00, 1.00 };
void on_IMU_MAG(IvyClientPtr app, void *user_data, int argc, char *argv[]);
@@ -111,14 +100,14 @@ void game_play()
}
void quat_to_euler( gfloat* quat, gfloat* euler) {
// float q02 = quat[0] * quat[0];
float q02 = quat[0] * quat[0];
float q12 = quat[1] * quat[1];
float q22 = quat[2] * quat[2];
float q32 = quat[3] * quat[3];
euler[0] = atan2( 2*(quat[2]*quat[3] + quat[0]*quat[1]),(1-2*(q12 + q22)) );
euler[0] = atan2( 2*(quat[2]*quat[3] + quat[0]*quat[1]),(q02 - q12 - q22 + q32));
euler[1] = -asin(2*(quat[1]*quat[3] - quat[0]*quat[2]));
euler[2] = atan2( 2*(quat[1]*quat[2] + quat[0]*quat[3]),(1-2*(q22 + q32)) );
euler[2] = atan2( 2*(quat[1]*quat[2] + quat[0]*quat[3]),(q02 + q12 - q22 - q32));
}
@@ -359,60 +348,6 @@ void game_render()
}
/* --------------------------------------- */
#ifdef FULLSCREEN_MESA_3DFX
gint switch_fullscreen(GtkWidget *gl_area)
{
static GtkWidget *fullscreenwidget = NULL;
if (!fullscreenwidget)
{
/* Grab keyboard and pointer so that user does not wander off the game
window while in fullscreen mode.
*/
if (gdk_keyboard_grab(gl_area->window, FALSE, GDK_CURRENT_TIME) == 0)
{
if (gdk_pointer_grab(gl_area->window, FALSE, 0, NULL, NULL, GDK_CURRENT_TIME) == 0)
{
gtk_widget_grab_focus(gl_area);
if (gtk_gl_area_make_current(GTK_GL_AREA(gl_area)))
{
if (XMesaSetFXmode((XMESA_FX_FULLSCREEN)))
{
fullscreenwidget = gl_area;
return TRUE;
}
}
gdk_pointer_ungrab(GDK_CURRENT_TIME);
}
gdk_keyboard_ungrab(GDK_CURRENT_TIME);
}
return FALSE;
}
if (fullscreenwidget == gl_area)
{
if (gtk_gl_area_make_current(GTK_GL_AREA(gl_area)))
XMesaSetFXmode(XMESA_FX_WINDOW);
gdk_keyboard_ungrab(GDK_CURRENT_TIME);
gdk_pointer_ungrab(GDK_CURRENT_TIME);
fullscreenwidget = NULL;
return TRUE;
}
return FALSE;
}
#endif
gint init(GtkWidget *widget)
{
/* OpenGL functions can be called only if makecurrent returns true */
@@ -528,11 +463,6 @@ int main(int argc, char **argv)
GDK_GL_NONE
};
#ifdef FULLSCREEN_MESA_3DFX
setenv("MESA_GLX_FX", "", 1);
setenv("FX_GLIDE_NO_SPLASH", "", 1);
#endif
/* initialize gtk */
gtk_init(&argc, &argv);