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desired_altitude added

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This commit is contained in:
Pascal Brisset
2005-08-17 22:10:52 +00:00
parent 9b2ed8f0d4
commit 51cb0b052e
1 changed files with 6 additions and 2 deletions
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sw/ground_segment/tmtc/receive.ml
+6 -2
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@@ -96,6 +96,7 @@ type aircraft = {
mutable nav_ref_north : float; mutable nav_ref_north : float;
mutable desired_east : float; mutable desired_east : float;
mutable desired_north : float; mutable desired_north : float;
mutable desired_altitude : float;
mutable gspeed : float; mutable gspeed : float;
mutable course : float; mutable course : float;
mutable alt : float; mutable alt : float;
@@ -173,7 +174,8 @@ let log_and_parse = fun log ac_name a msg values ->
a.gps_mode <- ivalue "mode" a.gps_mode <- ivalue "mode"
| "DESIRED" -> | "DESIRED" ->
a.desired_east <- fvalue "desired_x"; a.desired_east <- fvalue "desired_x";
a.desired_north <- fvalue "desired_y" a.desired_north <- fvalue "desired_y";
a.desired_altitude <- fvalue "desired_altitude"
| "NAVIGATION_REF" -> | "NAVIGATION_REF" ->
a.nav_ref_east <- fvalue "utm_east"; a.nav_ref_east <- fvalue "utm_east";
a.nav_ref_north <- fvalue "utm_north" a.nav_ref_north <- fvalue "utm_north"
@@ -334,7 +336,8 @@ let send_aircraft_msg = fun ac ->
let values = ["ac_id", Pprz.String ac; let values = ["ac_id", Pprz.String ac;
"ap_mode", Pprz.Int a.ap_mode; "ap_mode", Pprz.Int a.ap_mode;
"v_mode", Pprz.Int a.ap_altitude; "v_mode", Pprz.Int a.ap_altitude;
"gps_mode", Pprz.Int a.gps_mode] in "gps_mode", Pprz.Int a.gps_mode;
"target_alt", Pprz.Float a.desired_altitude] in
Ground_Pprz.message_send my_id "AP_STATUS" values; Ground_Pprz.message_send my_id "AP_STATUS" values;
send_cam_status a; send_cam_status a;
@@ -348,6 +351,7 @@ let send_aircraft_msg = fun ac ->
let new_aircraft = fun id -> let new_aircraft = fun id ->
{ id = id ; roll = 0.; pitch = 0.; nav_ref_east = 0.; nav_ref_north = 0.; desired_east = 0.; desired_north = 0.; gspeed=0.; course = 0.; alt=0.; climb=0.; cur_block=0; cur_stage=0; throttle = 0.; rpm = 0.; temp = 0.; bat = 0.; amp = 0.; energy = 0.; ap_mode=0; ap_altitude=0; gps_mode =0; { id = id ; roll = 0.; pitch = 0.; nav_ref_east = 0.; nav_ref_north = 0.; desired_east = 0.; desired_north = 0.; gspeed=0.; course = 0.; alt=0.; climb=0.; cur_block=0; cur_stage=0; throttle = 0.; rpm = 0.; temp = 0.; bat = 0.; amp = 0.; energy = 0.; ap_mode=0; ap_altitude=0; gps_mode =0;
desired_altitude = 0.;
pos = { utm_x = 0.; utm_y = 0.; utm_zone = 0 }; pos = { utm_x = 0.; utm_y = 0.; utm_zone = 0 };
cam = { phi = 0.; theta = 0. }; cam = { phi = 0.; theta = 0. };
inflight_calib = { if_mode = 1 ; if_val1 = 0.; if_val2 = 0.}; inflight_calib = { if_mode = 1 ; if_val1 = 0.; if_val2 = 0.};