*** empty log message ***

TODO

@@ -105,3 +105,7 @@ manque gerbmerge dans les dependance??? ha non ca n'existe pas... a packager !
 > - It's strange MIN_HEIGHT_CARROT and MAX_HEIGHT_CARROT are in the
 >code. Shouldn't it be in a conf file so as to change it ?
 >
+- In the same way, MIN_SPEED_FOR_TAKEOFF should be in the airframe
+conf file ?
+
+ 

conf/control_panel.xml

@@ -15,12 +15,12 @@
     <variable name="fbw_serial_port"      value="/dev/ttyS1"/>
     <variable name="ap_serial_port"       value="/dev/ttyS0"/>
     <variable name="ivy_bus"              value="127.25.255.255:2009"/>
-    <variable name="map"                  value="maps/muret_UTM.xml"/>
+    <variable name="map"                  value="muret_UTM.xml"/>
     <variable name="flight_plan"          value="flight_plans/muret1.xml"/>
   </section>
 
   <section name="programs">
-    <program name="receive" command="sw/ground_segment/tmtc/receive.opt">
+    <program name="receive" command="sw/ground_segment/tmtc/receive">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
     <program name="cockpit" command="sw/ground_segment/cockpit/cockpit.pl">
@@ -33,10 +33,11 @@
       <arg flag="-f" variable="flight_plan"/>
       <arg flag="-r" variable="render"/>
     </program>
-    <program name="map 2d ml" command="sw/ground_segment/cockpit/map2d.out">
+    <program name="map 2d ml" command="sw/ground_segment/cockpit/map2d">
       <arg flag="-b" variable="ivy_bus"/>
+      <arg flag="-m" variable="map"/>
     </program>
-    <program name="map 3d" command="sw/ground_segment/visu3d/mapGL.opt">
+    <program name="map 3d" command="sw/ground_segment/visu3d/mapGL">
       <arg flag="-b" variable="ivy_bus"/>
       <arg flag="-m" variable="map"/>
       <arg flag="-f" variable="flight_plan"/>
@@ -46,27 +47,27 @@
       <arg flag="-m" variable="map"/>
       <arg flag="-f" variable="flight_plan"/>
     </program>
-    <program name="messages" command="sw/ground_segment/tmtc/messages.opt">
+    <program name="messages" command="sw/ground_segment/tmtc/messages">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
     <program name="speech" command="sw/ground_segment/speech/paparazzi_speak.pl">
       <arg flag="-b" variable="ivy_bus"/>
 <!--      <arg flag="-t" variable="paparazzi_home"/> -->
     </program>
-    <program name="wind" command ="sw/ground_segment/wind/wind.opt"><arg flag="-b" variable="ivy_bus"/></program>
+    <program name="wind" command ="sw/ground_segment/wind/wind"><arg flag="-b" variable="ivy_bus"/></program>
     <program name="plot" command ="sw/logalizer/plot.pl"/>
-    <program name="play" command="sw/logalizer/play.opt">
+    <program name="play" command="sw/logalizer/play">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
     <program name="sim" command="sw/simulator/simsitl.pl">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
-    <program name="hitl" command="sw/simulator/simhitl.out">
+    <program name="hitl" command="sw/simulator/simhitl">
       <arg flag="-fbw" variable="fbw_serial_port"/>
       <arg flag="-ap" variable="ap_serial_port"/>
     </program>
     <program name="configurator" command="sw/configurator/configurator"/>
-    <program name="medit" command="sw/configurator/medit.out"/>
+    <program name="medit" command="sw/configurator/medit"/>
     <program name="make aircraft" command="sw/configurator/configurator"/>
 
 
@@ -80,7 +81,7 @@
       <program name="sim"><arg flag="-a" constant="Thon1"/></program>
       <program name="sim"><arg flag="-a" constant="Thon2"/></program>
       <program name="cockpit"/>
-      <program name="map 2d"/>
+      <program name="map 2d ml"/>
       <program name="map 3d"/>
     </session>
 
@@ -89,7 +90,7 @@
       <program name="receive"/>     
       <program name="sim"><arg flag="-a" constant="Thon1"/></program>
       <program name="cockpit"/>
-      <program name="map 2d"/>
+      <program name="map 2d ml"/>
       <program name="wind"/>
     </session>
 

conf/messages.xml

@@ -287,7 +287,8 @@ twinstar2 POSITION_UTM 10 10
     <field name="flight_time" type="uint32"/>
     <field name="block_time"  type="uint32"/>
     <field name="stage_time"  type="uint32"/>
-
+    <field name="target_east" type="float" unit="m"/>
+    <field name="target_north" type="float" unit="m"/>
   </message>
 
   <message name="ENGINE_STATUS" ID="0x07">
@@ -332,9 +333,6 @@ twinstar2 POSITION_UTM 10 10
     <field name="airframe"    type="string" unit="url"/>
     <field name="rc_tx"       type="string" unit="url"/>
   </message>
-
-
-
 </class>
 
 </protocol>

sw/ground_segment/cockpit/map2d.ml

@@ -115,6 +115,13 @@ let aircraft_pos_msg = fun track utm_x utm_y heading ->
       track#add_point en;
       track#move_icon en heading
 
+let carrot_pos_msg = fun track x y ->
+  match !map_ref with
+    None -> ()
+  | Some utm0 ->
+      let en =  {G.east = x; north = y } in
+      track#move_carrot en
+
 let new_color =
   let colors = ref ["red"; "blue"; "green"] in
   fun () ->
@@ -179,6 +186,10 @@ let live_aircrafts_msg = fun (geomap:MapCanvas.widget) acs ->
 	  Ivy.bind
 	    (fun _ args -> aircraft_pos_msg track (fos args.(0)) (fos args.(1))(fos args.(2))) 
 	    (sprintf "%s +FLIGHT_PARAM +[^ ]* +[^ ]* +([0-9\\.]*) +([0-9\\.]*) +[0-9\\.]* +([0-9\\.]*)" ac)  in
+	let b =
+	  Ivy.bind
+	    (fun _ args -> carrot_pos_msg track (fos args.(0)) (fos args.(1))) 
+	    (sprintf "%s +NAV_STATUS +[^ ]* +[^ ]* +[^ ]* +[^ ]* +[^ ]* +([\\-0-9\\.]*) +([\\-0-9\\.]*)" ac)  in
 	Hashtbl.add live_aircrafts ac { track = track; color = color; fp_group = None }
       end
     )

sw/ground_segment/tmtc/receive.ml

@@ -78,6 +78,8 @@ type aircraft = {
     mutable pitch   : float;
     mutable east    : float;
     mutable north    : float;
+    mutable desired_east    : float;
+    mutable desired_north    : float;
     mutable gspeed  : float;
     mutable course  : float;
     mutable alt     : float;
@@ -150,6 +152,9 @@ let log_and_parse = fun log ac_name a msg values ->
       a.course  <- fvalue "course";
       a.alt     <- fvalue "alt";
       a.climb   <- fvalue "climb"
+  | "DESIRED" ->
+      a.desired_east <- fvalue "desired_x";
+      a.desired_north <- fvalue "desired_y"
   | "ATTITUDE" ->
       a.roll <- fvalue "phi";
       a.pitch <- fvalue "theta"
@@ -198,7 +203,7 @@ let send_aircraft_msg = fun ac ->
     let _, fp_msg = AcInfo_Pprz.message_of_name "FLIGHT_PARAM" in
     Ivy.send (sprintf "%s %s" ac (AcInfo_Pprz.string_of_message fp_msg values));
 
-    let values = ["cur_block", Pprz.Int a.cur_block;"cur_stage", Pprz.Int a.cur_stage]
+    let values = ["cur_block", Pprz.Int a.cur_block;"cur_stage", Pprz.Int a.cur_stage; "target_east", f a.desired_east; "target_north", f a.desired_north]
     and _, ns_msg =  AcInfo_Pprz.message_of_name "NAV_STATUS" in
     Ivy.send (sprintf "%s %s" ac (AcInfo_Pprz.string_of_message ns_msg values));
 
@@ -213,7 +218,7 @@ let send_aircraft_msg = fun ac ->
     Not_found -> prerr_endline ac
       
 let new_aircraft = fun id ->
-    { port = id ; roll = 0.; pitch = 0.; east = 0.; 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; if_calib_mode=0; mcu1_status=0; lls_calib=0 }
+    { port = id ; roll = 0.; pitch = 0.; east = 0.; 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; if_calib_mode=0; mcu1_status=0; lls_calib=0 }
     
 let register_aircraft = fun name a ->
   Hashtbl.add aircrafts name a;
@@ -223,9 +228,11 @@ let register_aircraft = fun name a ->
 (** Callback of an identifying message from a soft simulator *)
 let ident_msg = fun log id name ->
   if not (Hashtbl.mem aircrafts name) then begin
+    prerr_endline "ident_msg";
     let ac = new_aircraft (Ivy id) in
     let b = Ivy.bind (fun _ args -> sim_msg log name ac args.(0)) (sprintf "^%s +(.*)" id) in
-    register_aircraft name ac
+    register_aircraft name ac;
+    send_aircrafts_msg ()
   end
 
 (* Waits for new simulated aircrafts *)

sw/lib/ocaml/mapTrack.ml

@@ -46,6 +46,9 @@ class track = fun ?(name="coucou") ?(size = 50) ?(color="red") (geomap:MapCanvas
     ignore (GnoCanvas.line ~fill_color:color ~props:[`WIDTH_PIXELS 4;`CAP_STYLE `ROUND] ~points:[|-4.;10.;4.;10.|] aircraft) in
   let ac_label =
     GnoCanvas.text group ~props:[`TEXT name; `X 25.; `Y 25.; `ANCHOR `SW; `FILL_COLOR color] in
+  let carrot = GnoCanvas.group group in
+  let _ac_carrot =
+    ignore (GnoCanvas.polygon ~points:[|0.;0.;-2.5;5.;2.5;5.|] ~props:[`WIDTH_UNITS 1.;`FILL_COLOR "orange"; `OUTLINE_COLOR "orange"; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] carrot) in
   
   object (self)
     val mutable segments = Array.create size empty
@@ -81,6 +84,9 @@ class track = fun ?(name="coucou") ?(size = 50) ?(color="red") (geomap:MapCanvas
       let (xw,yw) = geomap#world_of_en en in
       aircraft#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw heading);
       ac_label#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw 0.);
+    method move_carrot = fun en ->
+      let (xw,yw) = geomap#world_of_en en in
+      carrot#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw 0.)
     method zoom = fun z ->
       let a = aircraft#i2w_affine in
       let z' = sqrt (a.(0)*.a.(0)+.a.(1)*.a.(1)) in

sw/simulator/simsitl.pl

@@ -18,7 +18,7 @@ GetOptions (
 	   );
 my @args = ();
 push @args, "-b", $options->{ivy_bus};
-my $sim_binary = Paparazzi::Environment::paparazzi_home()."/var/".$options->{aircraft}."/sim/simsitl.out";
+my $sim_binary = Paparazzi::Environment::paparazzi_home()."/var/".$options->{aircraft}."/sim/simsitl";
 die "$sim_binary not found. try make AIRCRAFT=$options->{aircraft} ac\n" unless -e $sim_binary;
 exec ($sim_binary, @args)
 

sw/simulator/sitl.ml

@@ -33,9 +33,9 @@ module Make(A:Data.MISSION) = struct
   let servos_period = 25 (* ms *)
   let periodic_period = 16 (* ms *)
   let rc_period = 25 (* ms *)
-  let id_period = 10_000 (* ms *)
 
   let periodic = fun p f ->
+    f ();
     ignore (GMain.Timeout.add p (fun () -> f (); true))
 
 

sw/supervision/paparazzi.pl

@@ -44,7 +44,7 @@ sub parse_args {
   my ($self) = @_;
   my $options = {
 		 ivy_bus => "127.255.255.255:2005",
-		 map => "maps/muret_UTM.xml",
+		 map => "muret_UTM.xml",
 		 render => "1",
 		};
   GetOptions("b=s" => \$options->{ivy_bus},

sw/tools/gen_sim_downlink.ml

@@ -51,12 +51,12 @@ let gen_periodic = fun avr_h messages ->
     
     fprintf avr_h "#define PeriodicSend() {  /* %dHz */ \\\n" freq;
     fprintf avr_h "  static uint8_t i;\\\n";
-    fprintf avr_h "  i++; if (i == %d) i = 0;\\\n" nb_steps;
+    fprintf avr_h "  if (i == %d) i = 0;\\\n" nb_steps;
     List.iter
       (fun (p, id) ->
 	fprintf avr_h "  if (i %% %d == 0) PERIODIC_SEND_%s();\\\n" p id)
       scheduled_messages;
-    fprintf avr_h "}\n"
+    fprintf avr_h " i++;\\\n}\n"