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[autopilot] fix detection of generated mode and generation dep (#2927)

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- server extract the correct modes with generated autopilots
- compilation dependency fixed for generated autopilot
This commit is contained in:
Gautier Hattenberger
2022-10-12 09:51:27 +02:00
committed by GitHub
parent 45b020d678
commit 83e57b3733
4 changed files with 2 additions and 4 deletions
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sw/ground_segment/tmtc/aircraft_server.ml
-1
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@@ -252,6 +252,5 @@ let modes_of_aircraft = fun ac ->
| Some m, _ -> m
| None, FixedWing -> Server_globals.fixedwing_ap_modes
| None, Rotorcraft -> Server_globals.rotorcraft_ap_modes
| None, Rover -> Server_globals.rover_ap_modes
| None, _ -> [| "UKN" |]
sw/ground_segment/tmtc/server.ml
+1 -1
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@@ -601,7 +601,7 @@ let new_aircraft = fun get_alive_md5sum real_id ->
done in
ignore (ac.ap_modes <- try
let ac = Aircraft.parse_aircraft "" airframe_xml in
let ac = Aircraft.parse_aircraft ~parse_af:true ~parse_ap:true "" conf in
match ac.Aircraft.autopilots with
| None -> None
| Some [(_, ap)] -> Some (modes_from_autopilot ap.Autopilot.xml)
sw/ground_segment/tmtc/server_globals.ml
-1
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@@ -8,7 +8,6 @@ let port = ref 8889
(** FIXME: Should be read from messages.xml *)
let fixedwing_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"NOGPS"|]
let rotorcraft_ap_modes = [|"KILL";"SAFE";"HOME";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV";"RC_D";"CF";"FWD";"MODULE";"FLIP";"GUIDED"|]
let rover_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"KILL"|]
let _AUTO2 = 2
let gaz_modes = [|"MANUAL";"THROTTLE";"CLIMB";"ALT"|]
let lat_modes = [|"MANUAL";"ROLL_RATE";"ROLL";"COURSE"|]
sw/tools/generators/gen_aircraft.ml
+1 -1
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@@ -282,7 +282,7 @@ let () =
| Some autopilots ->
List.iter (fun (freq, autopilot) ->
let dep = List.map (fun sm ->
let h_name = paparazzi_conf // ("autopilot_core_"^(Xml.attrib sm "name")^".h") in
let h_name = aircraft_gen_dir // ("autopilot_core_"^(Xml.attrib sm "name")^".h") in
(h_name, [autopilot.Autopilot.filename])
) (Xml.children autopilot.Autopilot.xml) in
generate_config_element autopilot