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add rc_rate to the rotorcraft for display in gcs

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This commit is contained in:
Gautier Hattenberger
2010-11-23 16:50:10 +01:00
parent a6cc32c9fe
commit 9ce3c712cf
5 changed files with 7 additions and 6 deletions
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conf/messages.xml
+1
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@@ -1615,6 +1615,7 @@
<field name="link_imu_nb_err" type="uint32"/>
<field name="blmc_nb_err" type="uint8"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="rc_rate" type="uint8" unit="Hz"/>
<field name="gps_status" type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV"/>
<field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
sw/ground_segment/tmtc/booz_server.ml
+1
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@@ -182,6 +182,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
Wind.update ac_name a.gspeed a.course
| "ROTORCRAFT_STATUS" ->
a.fbw.rc_status <- get_rc_status (ivalue "rc_status");
a.fbw.rc_rate <- ivalue "frame_rate";
a.gps_mode <- check_index (ivalue "gps_status") gps_modes "GPS_MODE";
a.ap_mode <- check_index (get_pprz_mode (ivalue "ap_mode")) ap_modes "BOOZ_AP_MODE";
a.kill_mode <- ivalue "ap_motors_on" == 0;
sw/ground_segment/tmtc/fw_server.ml
+3 -4
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@@ -103,6 +103,8 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
a.last_msg_date <- U.gettimeofday ();
match msg.Pprz.name with
"GPS" ->
a.gps_mode <- check_index (ivalue "mode") gps_modes "GPS_MODE";
if a.gps_mode = _3D then begin
let p = { LL.utm_x = fvalue "utm_east" /. 100.;
utm_y = fvalue "utm_north" /. 100.;
utm_zone = ivalue "utm_zone" } in
@@ -114,9 +116,9 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
if !heading_from_course then
a.heading <- a.course;
a.agl <- a.alt -. float (try Srtm.of_wgs84 a.pos with _ -> 0);
a.gps_mode <- check_index (ivalue "mode") gps_modes "GPS_MODE";
if a.gspeed > 3. && a.ap_mode = _AUTO2 then
Wind.update ac_name a.gspeed a.course
end
| "GPS_LLA" ->
let lat = ivalue "lat"
and lon = ivalue "lon" in
@@ -143,9 +145,6 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
Some nav_ref ->
let x = (try fvalue "x" with _ -> fvalue "desired_x")
and y = (try fvalue "y" with _ -> fvalue "desired_y") in
(*let target_utm = LL.utm_add (LL.utm_of nav_ref) (x, y) in
let target_geo = LL.of_utm WGS84 target_utm in
a.desired_pos <- target_geo;*)
a.desired_pos <- Aircraft.add_pos_to_nav_ref nav_ref (x, y);
| None -> ()
end;
sw/ground_segment/tmtc/server.ml
+1 -2
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@@ -151,8 +151,7 @@ let send_cam_status = fun a ->
let alpha = -. a.course in
let east = dx *. cos alpha -. dy *. sin alpha
and north = dx *. sin alpha +. dy *. cos alpha in
let utm = LL.utm_add (LL.utm_of WGS84 a.pos) (east, north) in
let wgs84 = LL.of_utm WGS84 utm in
let wgs84 = Aircraft.add_pos_to_nav_ref (Geo a.pos) (east, north) in
let twgs84 = Aircraft.add_pos_to_nav_ref nav_ref a.cam.target in
let values = ["ac_id", Pprz.String a.id;
"cam_lat", Pprz.Float ((Rad>>Deg)wgs84.posn_lat);
sw/ground_segment/tmtc/server_globals.ml
+1
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@@ -8,6 +8,7 @@ let _AUTO2 = 2
let gaz_modes = [|"MANUAL";"GAZ";"CLIMB";"ALT"|]
let lat_modes = [|"MANUAL";"ROLL_RATE";"ROLL";"COURSE"|]
let gps_modes = [|"NOFIX";"DRO";"2D";"3D";"GPSDRO"|]
let _3D = 3
let gps_hybrid_modes = [|"OFF";"ON"|]
let horiz_modes = [|"WAYPOINT";"ROUTE";"CIRCLE";"ATTITUDE"|]