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This commit is contained in:
Pascal Brisset
2005-08-17 08:48:06 +00:00
parent 53c33bcaed
commit 60afe97205
4 changed files with 114 additions and 48 deletions
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conf/control_panel.xml
+1
View File
@@ -94,6 +94,7 @@
<program name="receive"/> <program name="receive"/>
<program name="sim"><arg flag="-a" constant="Thon1"/></program> <program name="sim"><arg flag="-a" constant="Thon1"/></program>
<program name="map 2d ml"/> <program name="map 2d ml"/>
<program name="messages"><arg flag="-c" constant="telemetry_ap:1"/><arg flag="-c" constant="ground"/></program>
</session> </session>
<session name="flight microjet modem"> <session name="flight microjet modem">
conf/messages.xml
+36 -41
View File
@@ -4,39 +4,39 @@
<!-- messages from modem or sim to server --> <!-- messages from modem or sim to server -->
<class name="telemetry_ap" ID="0x40"> <class name="telemetry_ap" ID="0x40">
<message name="BOOT" ID="0x01"> <message name="BOOT" ID="1">
<field name="version" type="uint16"></field> <field name="version" type="uint16"></field>
</message> </message>
<message name="CALIB_START" ID="0x02"> <message name="CALIB_START" ID="2">
</message> </message>
<message name="CALIB_CONTRAST" ID="0x03"> <message name="CALIB_CONTRAST" ID="3">
<field name="adc" type="int16"></field> <field name="adc" type="int16"></field>
</message> </message>
<message name="TAKEOFF" ID="0x04"> <message name="TAKEOFF" ID="4">
<field name="cpu_time" type="uint16" unit="s"></field> <field name="cpu_time" type="uint16" unit="s"></field>
</message> </message>
<message name="RAD_OF_IR" ID="0x05"> <message name="RAD_OF_IR" ID="5">
<field name="ir" type="int16"></field> <field name="ir" type="int16"></field>
<field name="rad" type="int16" unit="decideg"></field> <field name="rad" type="int16" unit="decideg"></field>
<field name="rad_of_ir" type="float" format="%.4f"></field> <field name="rad_of_ir" type="float" format="%.4f"></field>
</message> </message>
<message name="ATTITUDE" ID="0x06" period="0.5" > <message name="ATTITUDE" ID="6" period="0.5" >
<field name="phi" type="int8" unit="deg"></field> <field name="phi" type="int8" unit="deg"></field>
<field name="psi" type="int8" unit="deg"></field> <field name="psi" type="int8" unit="deg"></field>
<field name="theta" type="int8" unit="deg"></field> <field name="theta" type="int8" unit="deg"></field>
</message> </message>
<message name="ADC" ID="0x07" period="0.5" > <message name="ADC" ID="7" period="0.5" >
<field name="roll" type="int16"></field> <field name="roll" type="int16"></field>
<field name="pitch" type="int16"></field> <field name="pitch" type="int16"></field>
</message> </message>
<message name="GPS" ID="0x08"> <message name="GPS" ID="8">
<field name="mode" type="uint8" unit="byte_mask"></field> <field name="mode" type="uint8" unit="byte_mask"></field>
<field name="utm_east" type="int32" unit="cm"></field> <field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field> <field name="utm_north" type="int32" unit="cm"></field>
@@ -48,13 +48,13 @@
<field name="utm_zone" type="uint8"></field> <field name="utm_zone" type="uint8"></field>
</message> </message>
<message name="NAVIGATION_REF" ID="0x09" period="10" > <message name="NAVIGATION_REF" ID="0x09" period="9" >
<field name="utm_east" type="int32" unit="m"></field> <field name="utm_east" type="int32" unit="m"></field>
<field name="utm_north" type="int32" unit="m"></field> <field name="utm_north" type="int32" unit="m"></field>
<field name="utm_zone" type="uint8"></field> <field name="utm_zone" type="uint8"></field>
</message> </message>
<message name="NAVIGATION" ID="0x0A"> <message name="NAVIGATION" ID="10">
<field name="cur_block" type="uint8"></field> <field name="cur_block" type="uint8"></field>
<field name="cur_stage" type="uint8"></field> <field name="cur_stage" type="uint8"></field>
<field name="pos_x" type="int16" unit="m"></field> <field name="pos_x" type="int16" unit="m"></field>
@@ -64,7 +64,7 @@
<field name="dist2_home" type="float" format="%.1f" unit="m^2"></field> <field name="dist2_home" type="float" format="%.1f" unit="m^2"></field>
</message> </message>
<message name="PPRZ_MODE" ID="0x0B" period="5" > <message name="PPRZ_MODE" ID="11" period="5" >
<field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME"/> <field name="ap_mode" type="uint8" values="MANUAL|AUTO1|AUTO2|HOME"/>
<field name="ap_altitude" type="uint8" values="MANUAL|AUTO_GAZ|AUTO_CLIMB|AUTO_ALT"/> <field name="ap_altitude" type="uint8" values="MANUAL|AUTO_GAZ|AUTO_CLIMB|AUTO_ALT"/>
<field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/> <field name="if_calib_mode" type="uint8" values="NONE|DOWN|UP"/>
@@ -72,7 +72,7 @@
<field name="lls_calib" type="uint8" values="LLS_CALIB_MODE_OFF|LLS_CALIB_MODE_ON"/> <field name="lls_calib" type="uint8" values="LLS_CALIB_MODE_OFF|LLS_CALIB_MODE_ON"/>
</message> </message>
<message name="BAT" ID="0x0C" period="2" > <message name="BAT" ID="12" period="2" >
<field name="desired_gaz" type="int16" unit="pprz"></field> <field name="desired_gaz" type="int16" unit="pprz"></field>
<field name="voltage" type="uint8" unit="1e-1V"></field> <field name="voltage" type="uint8" unit="1e-1V"></field>
<field name="flight_time" type="uint16" unit="s"></field> <field name="flight_time" type="uint16" unit="s"></field>
@@ -82,7 +82,7 @@
<field name="energy" type="uint16" unit="mAh"/> <field name="energy" type="uint16" unit="mAh"/>
</message> </message>
<message name="DEBUG" ID="0x0D" period="5" > <message name="DEBUG" ID="13" period="5" >
<field name="i2c_nb_err" type="uint8"></field> <field name="i2c_nb_err" type="uint8"></field>
<field name="i2c_mcu1_nb_err" type="uint8"></field> <field name="i2c_mcu1_nb_err" type="uint8"></field>
<field name="modem_nb_err" type="uint8"></field> <field name="modem_nb_err" type="uint8"></field>
@@ -90,18 +90,18 @@
<field name="ppm_rate" type="uint8"></field> <field name="ppm_rate" type="uint8"></field>
</message> </message>
<message name="CALIBRATION" ID="0x0E" period="2"> <message name="CALIBRATION" ID="14" period="2">
<field name="climb_sum_err" type="float" format="%.1f"></field> <field name="climb_sum_err" type="float" format="%.1f"></field>
<field name="climb_pgain" type="float" format="%.3f"></field> <field name="climb_pgain" type="float" format="%.3f"></field>
<field name="course_pgain" type="float" format="%.3f"></field> <field name="course_pgain" type="float" format="%.3f"></field>
</message> </message>
<message name="SETTINGS" ID="0x0F" period="0.5"> <message name="SETTINGS" ID="15" period="0.5">
<field name="slider_1_val" type="float"></field> <field name="slider_1_val" type="float"></field>
<field name="slider_2_val" type="float"></field> <field name="slider_2_val" type="float"></field>
</message> </message>
<message name="DESIRED" ID="0x10" period="1"> <message name="DESIRED" ID="16" period="1">
<field name="roll" type="float" format="%.2f"/> <field name="roll" type="float" format="%.2f"/>
<field name="pitch" type="float" format="%.2f"/> <field name="pitch" type="float" format="%.2f"/>
<field name="desired_x" type="float" format="%.0f"/> <field name="desired_x" type="float" format="%.0f"/>
@@ -110,7 +110,7 @@
<field name="desired_climb" type="float" format="%.1f"></field> <field name="desired_climb" type="float" format="%.1f"></field>
</message> </message>
<message name="IMU" ID="0x11"> <message name="IMU" ID="17">
<field name="gyro_x" type="float"/> <field name="gyro_x" type="float"/>
<field name="gyro_y" type="float"/> <field name="gyro_y" type="float"/>
<field name="gyro_z" type="float"/> <field name="gyro_z" type="float"/>
@@ -119,7 +119,7 @@
<field name="accel_z" type="float"/> <field name="accel_z" type="float"/>
</message> </message>
<message name="RAW_IMU" ID="0x12"> <message name="RAW_IMU" ID="17">
<field name="raw_gx" type="uint16"/> <field name="raw_gx" type="uint16"/>
<field name="raw_gy" type="uint16"/> <field name="raw_gy" type="uint16"/>
<field name="raw_gz" type="uint16"/> <field name="raw_gz" type="uint16"/>
@@ -128,7 +128,7 @@
<field name="raw_az" type="uint16"/> <field name="raw_az" type="uint16"/>
</message> </message>
<message name="KALMAN" ID="0x13"> <message name="KALMAN" ID="18">
<field name="phi" type="float" format="%.3f"/> <field name="phi" type="float" format="%.3f"/>
<field name="phi_dot" type="float" format="%.3f"/> <field name="phi_dot" type="float" format="%.3f"/>
<field name="phi_bias" type="float" format="%.3f"/> <field name="phi_bias" type="float" format="%.3f"/>
@@ -137,31 +137,31 @@
<field name="theta_bias" type="float" format="%.3f"/> <field name="theta_bias" type="float" format="%.3f"/>
</message> </message>
<message name="IDENT" ID="0x14" period="10"> <message name="IDENT" ID="19" period="10">
<field name="id" type="uint8"/> <field name="id" type="uint8"/>
</message> </message>
<message name="CAM" ID="0x15"> <message name="CAM" ID="20">
<field name="phi" type="int8" unit="deg"/> <field name="phi" type="int8" unit="deg"/>
<field name="theta" type="int8" unit="deg"/> <field name="theta" type="int8" unit="deg"/>
<field name="target_x" type="int16" unit="m"/> <field name="target_x" type="int16" unit="m"/>
<field name="target_y" type="int16" unit="m"/> <field name="target_y" type="int16" unit="m"/>
</message> </message>
<message name="CIRCLE" ID="0x16"> <message name="CIRCLE" ID="21">
<field name="center_x" type="int16" unit="m"/> <field name="center_x" type="int16" unit="m"/>
<field name="center_y" type="int16" unit="m"/> <field name="center_y" type="int16" unit="m"/>
<field name="radius" type="int16" unit="m"/> <field name="radius" type="int16" unit="m"/>
</message> </message>
<message name="SEGMENT" ID="0x17"> <message name="SEGMENT" ID="22">
<field name="segment_x_1" type="int16" unit="m"/> <field name="segment_x_1" type="int16" unit="m"/>
<field name="segment_y_1" type="int16" unit="m"/> <field name="segment_y_1" type="int16" unit="m"/>
<field name="segment_x_2" type="int16" unit="m"/> <field name="segment_x_2" type="int16" unit="m"/>
<field name="segment_y_2" type="int16" unit="m"/> <field name="segment_y_2" type="int16" unit="m"/>
</message> </message>
<message name="DOWNLINK_STATUS" ID="0x02"> <message name="DOWNLINK_STATUS" ID="23">
<field name="run_time" type="uint32" unit="s"></field> <field name="run_time" type="uint32" unit="s"></field>
<field name="rx_bytes" type="uint32"></field> <field name="rx_bytes" type="uint32"></field>
<field name="rx_msgs" type="uint32"></field> <field name="rx_msgs" type="uint32"></field>
@@ -170,7 +170,7 @@
<field name="rx_msgs_rate" type="float" format="%.1f"></field> <field name="rx_msgs_rate" type="float" format="%.1f"></field>
</message> </message>
<message name="MODEM_STATUS" ID="0x03"> <message name="MODEM_STATUS" ID="24">
<field name="detected" type="uint8"></field> <field name="detected" type="uint8"></field>
<field name="valim" type="float" format="%.1f"></field> <field name="valim" type="float" format="%.1f"></field>
<field name="cd" type="uint8"></field> <field name="cd" type="uint8"></field>
@@ -179,7 +179,7 @@
<field name="nb_err" type="uint32"></field> <field name="nb_err" type="uint32"></field>
</message> </message>
<message name="SVINFO" id="20"> <message name="SVINFO" id="25">
<field name="chn" type="uint8"/> <field name="chn" type="uint8"/>
<field name="SVID" type="uint8"/> <field name="SVID" type="uint8"/>
<field name="Flags" type="uint8"/> <field name="Flags" type="uint8"/>
@@ -345,21 +345,14 @@
<field name="energy" type="float" unit="Wh"/> <field name="energy" type="float" unit="Wh"/>
</message> </message>
<message name="SATS" ID="16"> <message name="SVSINFO" ID="16">
<field name="itow" type="uint32" unit="ms"/> <field name="ac_id" type="string"/>
<field name="nch" type="uint8"/> <field name="svid" type="string" format="csv"/>
<field name="res1" type="uint8"/> <field name="flags" type="string" format="csv"/>
<field name="res2" type="uint8"/> <field name="qi" type="string" format="csv" values="IDLE|SEARCH|SEARCH|UNUSABLE|CODELOCK|CARRIERLOCK|CARRIERLOCK|RECEIVING"/>
<block name="sats" times="nch"> <field name="cno" type="string" format="csv" unit="dbHz"/>
<field name="chn" type="uint8"/> <field name="elev" type="string" format="csv" unit="deg"/>
<field name="svid" type="uint8"/> <field name="azim" type="string" format="csv" unit="deg"/>
<field name="flags" type="uint8"/>
<field name="qi" type="int8"/>
<field name="cno" type="float" unit="dbHz"/>
<field name="elev" type="float" unit="deg"/>
<field name="azim" type="float" unit="deg"/>
<field name="prres" type="float" unit="cm"/>
</block>
</message> </message>
<message name="FLY_BY_WIRE" id="17"> <message name="FLY_BY_WIRE" id="17">
@@ -379,6 +372,8 @@
<message name="INFLIGH_CALIB" id="19"> <message name="INFLIGH_CALIB" id="19">
<field name="ac_id" type="string"/> <field name="ac_id" type="string"/>
<field name="if_mode" type="uint8" values="DOWN|OFF|UP"></field> <field name="if_mode" type="uint8" values="DOWN|OFF|UP"></field>
<field name="if_value1" type="float"></field>
<field name="if_value2" type="float"></field>
</message> </message>
</class> </class>
debian/control
Vendored
+1 -1
View File
@@ -7,6 +7,6 @@ Standards-Version: 3.6.1
Package: paparazzi Package: paparazzi
Architecture: i386 Architecture: i386
Depends: ivy-c-dev, ivy-c, ivy-perl, libsubject-perl, zinc-perl, zinc-tk, ivy-ocaml, xml-light-ocaml, libxml-dom-perl, libpcre3-dev, liblablgtk2-ocaml-dev, gcc-avr, avr-libc, binutils-avr, libexpect-perl, libgnomecanvas2-dev, libcamlimages-ocaml-dev, uisp, libfile-ncopy-perl, libtext-csv-perl, digikit Depends: ivy-c-dev, ivy-c, ivy-perl, libsubject-perl, zinc-perl, zinc-tk, ivy-ocaml, xml-light-ocaml, libxml-dom-perl, libpcre3-dev, liblablgtk2-ocaml-dev, gcc-avr, avr-libc, binutils-avr, libexpect-perl, libgnomecanvas2-dev, libcamlimages-ocaml-dev, uisp, libfile-ncopy-perl, libtext-csv-perl, digikit, make, gcc, patch
Description: Paparazzi Meta Package Description: Paparazzi Meta Package
sw/ground_segment/tmtc/receive.ml
+76 -6
View File
@@ -48,6 +48,8 @@ type ac_cam = {
type inflight_calib = { type inflight_calib = {
mutable if_mode : int; (* DOWN|OFF|UP *) mutable if_mode : int; (* DOWN|OFF|UP *)
mutable if_val1 : float;
mutable if_val2 : float
} }
type contrast_status = string (** DEFAULT|WAITING|SET *) type contrast_status = string (** DEFAULT|WAITING|SET *)
@@ -66,6 +68,25 @@ type fbw = {
mutable rc_mode : rc_mode; mutable rc_mode : rc_mode;
} }
let gps_nb_channels = 16
type svinfo = {
svid : int;
flags : int;
qi : int;
cno : int;
elev : int;
azim : int
}
let svinfo_init = {
svid = 0 ;
flags = 0;
qi = 0;
cno = 0;
elev = 0;
azim = 0;
}
type aircraft = { type aircraft = {
id : string; id : string;
mutable pos : Latlong.utm; mutable pos : Latlong.utm;
@@ -93,7 +114,10 @@ type aircraft = {
mutable gps_mode : int; mutable gps_mode : int;
inflight_calib : inflight_calib; inflight_calib : inflight_calib;
infrared : infrared; infrared : infrared;
fbw : fbw fbw : fbw;
mutable svinfo_nb_channels : int;
mutable svinfo_last_channel : int;
svinfo : svinfo array
} }
(** The aircrafts store *) (** The aircrafts store *)
@@ -193,6 +217,23 @@ let log_and_parse = fun log ac_name a msg values ->
a.infrared.contrast_status <- "WAITING" a.infrared.contrast_status <- "WAITING"
| "CALIB_CONTRAST" -> | "CALIB_CONTRAST" ->
a.infrared.contrast_value <- ivalue "adc" a.infrared.contrast_value <- ivalue "adc"
| "SETTINGS" ->
a.inflight_calib.if_val1 <- fvalue "slider_1_val";
a.inflight_calib.if_val2 <- fvalue "slider_2_val";
| "SVINFO" ->
let i = ivalue "chn" in
assert(i < Array.length a.svinfo);
a.svinfo.(i) <- {
svid = ivalue "SVID";
flags = ivalue "Flags";
qi = ivalue "QI";
cno = ivalue "CNO";
elev = ivalue "Elev";
azim = ivalue "Azim";
};
if i = 0 then
a.svinfo_nb_channels <- a.svinfo_last_channel;
a.svinfo_last_channel <- i
| _ -> () | _ -> ()
(** Callback for a message from a registered A/C *) (** Callback for a message from a registered A/C *)
@@ -213,12 +254,14 @@ let send_cam_status = fun a ->
let h = a.alt -. float (Srtm.of_utm a.pos) in let h = a.alt -. float (Srtm.of_utm a.pos) in
let east = a.pos.utm_x +. h *. tan (a.cam.phi -. a.roll) let east = a.pos.utm_x +. h *. tan (a.cam.phi -. a.roll)
and north = a.pos.utm_y +. h *. tan (a.cam.theta +. a.pitch) in and north = a.pos.utm_y +. h *. tan (a.cam.theta +. a.pitch) in
let values = ["east", Pprz.Float east; "north", Pprz.Float north] in let values = ["cam_east", Pprz.Float east; "cam_north", Pprz.Float north] in
Ground_Pprz.message_send my_id "CAM_STATUS" values Ground_Pprz.message_send my_id "CAM_STATUS" values
let send_if_calib = fun a -> let send_if_calib = fun a ->
let values = ["ac_id", Pprz.String a.id; let values = ["ac_id", Pprz.String a.id;
"mode", Pprz.Int a.inflight_calib.if_mode] in "if_mode", Pprz.Int a.inflight_calib.if_mode;
"if_value1", Pprz.Float a.inflight_calib.if_val1;
"if_value2", Pprz.Float a.inflight_calib.if_val2] in
Ground_Pprz.message_send my_id "INFLIGH_CALIB" values Ground_Pprz.message_send my_id "INFLIGH_CALIB" values
let send_fbw = fun a -> let send_fbw = fun a ->
@@ -236,6 +279,30 @@ let send_infrared = fun a ->
] in ] in
Ground_Pprz.message_send my_id "INFRARED" values Ground_Pprz.message_send my_id "INFRARED" values
let send_svsinfo = fun a ->
if a.svinfo_last_channel = 0 then begin
let svid = ref ","
and flags= ref ","
and qi = ref ","
and cno = ref ","
and elev = ref ","
and azim = ref "," in
for i = 0 to a.svinfo_nb_channels - 1 do
let concat = fun ref v ->
ref := !ref ^ string_of_int v ^ "," in
concat svid a.svinfo.(i).svid;
concat flags a.svinfo.(i).flags;
concat qi a.svinfo.(i).qi;
concat cno a.svinfo.(i).cno;
concat elev a.svinfo.(i).elev;
concat azim a.svinfo.(i).azim
done;
let f = fun s r -> (s, Pprz.String !r) in
let vs = [f "SVID" svid; f "Flags" flags; f "QI" qi;
f "CNO" cno; f "Elev" elev; f "Azim" azim] in
Ground_Pprz.message_send my_id "SVSINFO" vs
end
let send_aircraft_msg = fun ac -> let send_aircraft_msg = fun ac ->
try try
@@ -270,7 +337,7 @@ let send_aircraft_msg = fun ac ->
Ground_Pprz.message_send my_id "ENGINE_STATUS" values; Ground_Pprz.message_send my_id "ENGINE_STATUS" values;
let values = ["ac_id", Pprz.String ac; let values = ["ac_id", Pprz.String ac;
"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] in
Ground_Pprz.message_send my_id "AP_STATUS" values; Ground_Pprz.message_send my_id "AP_STATUS" values;
@@ -287,9 +354,12 @@ 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;
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 }; inflight_calib = { if_mode = 1 ; if_val1 = 0.; if_val2 = 0.};
infrared = infrared_init; infrared = infrared_init;
fbw = { rc_status = "???"; rc_mode = "???" } fbw = { rc_status = "???"; rc_mode = "???" };
svinfo_nb_channels = 0;
svinfo_last_channel = -1;
svinfo = Array.create gps_nb_channels svinfo_init
} }
let register_aircraft = fun name a -> let register_aircraft = fun name a ->