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AGL computed by the server and dispatched

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This commit is contained in:
Pascal Brisset
2006-10-18 05:56:51 +00:00
parent 60bdaec859
commit 77c388536c
4 changed files with 7 additions and 2 deletions
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conf/messages.xml
+1
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@@ -457,6 +457,7 @@
<field name="course" type="float" unit="deg" format="%.1f"/>
<field name="alt" type="float" unit="m"/>
<field name="climb" type="float" unit="m/s"/>
<field name="agl" type="float" unit="m"/>
</message>
<message name="AP_STATUS" ID="12">
sw/ground_segment/tmtc/aircraft.ml
+1
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@@ -89,6 +89,7 @@ type aircraft = {
mutable gspeed : float; (* m/s *)
mutable course : float; (* rad *)
mutable alt : float;
mutable agl : float;
mutable climb : float;
mutable cur_block : int;
mutable cur_stage : int;
sw/ground_segment/tmtc/aircraft.mli
+1
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@@ -76,6 +76,7 @@ type aircraft = {
mutable gspeed : float; (* m/s *)
mutable course : float; (* rad *)
mutable alt : float;
mutable agl : float; (* m *)
mutable climb : float;
mutable cur_block : int;
mutable cur_stage : int;
sw/ground_segment/tmtc/server.ml
+4 -2
View File
@@ -192,6 +192,7 @@ let log_and_parse = fun logging ac_name (a:Aircraft.aircraft) msg values ->
a.gspeed <- fvalue "speed" /. 100.;
a.course <- norm_course ((Deg>>Rad)(fvalue "course" /. 10.));
a.alt <- fvalue "alt" /. 100.;
a.agl <- a.alt -. float (try Srtm.of_utm a.pos with _ -> 0);
a.climb <- fvalue "climb" /. 100.;
a.gps_mode <- check_index (ivalue "mode") gps_modes "GPS_MODE";
if a.gspeed > 3. then
@@ -337,7 +338,7 @@ let send_cam_status = fun a ->
match a.nav_ref with
None -> () (* No geo ref for camera target *)
| Some nav_ref ->
let h = a.alt -. float (try Srtm.of_utm a.pos with _ -> 0) in
let h = a.agl in
let phi_absolute = a.cam.phi -. a.roll
and theta_absolute = a.cam.theta +. a.pitch in
if phi_absolute > -. cam_max_angle && phi_absolute < cam_max_angle &&
@@ -498,6 +499,7 @@ let send_aircraft_msg = fun ac ->
"speed", f a.gspeed;
"course", f (Geometry_2d.rad2deg a.course);
"alt", f a.alt;
"agl", f a.agl;
"climb", f a.climb] in
Ground_Pprz.message_send my_id "FLIGHT_PARAM" values;
@@ -568,7 +570,7 @@ let new_aircraft = fun id ->
{ id = id ; roll = 0.; pitch = 0.; desired_east = 0.; desired_north = 0.;
desired_course = 0.;
gspeed=0.; course = 0.; alt=0.; climb=0.; cur_block=0; cur_stage=0;
throttle = 0.; throttle_accu = 0.; rpm = 0.; temp = 0.; bat = 42.; amp = 0.; energy = 0; ap_mode= -1;
throttle = 0.; throttle_accu = 0.; rpm = 0.; temp = 0.; bat = 42.; amp = 0.; energy = 0; ap_mode= -1; agl = 0.;
gaz_mode= -1; lateral_mode= -1;
gps_mode =0;
desired_altitude = 0.;