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vertical display . #define IR_RELIEF_CORRECTION in estimator.c

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rad
2005-09-11 17:00:19 +00:00
parent 4e2351d361
commit a17f4bce86
15 changed files with 642 additions and 322 deletions
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sw/tools/gen_flight_plan.ml
+46 -13
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@@ -492,18 +492,51 @@ let dummy_waypoint =
let nb_heights = 24
let half_aperture = pi /. 4.
let horizon_distance = 1000.
let print_heights = fun wgs84 alt ->
Srtm.add_path (Env.paparazzi_home ^ "/data/srtm");
Xml2h.define "NB_HEIGHTS" (string_of_int nb_heights);
Xml2h.define "HEIGHTS" "{ /* Degrees from default alt*/\\";
let a =2. *. pi /. float nb_heights in
for i = 0 to nb_heights - 1 do
let psi = float i *. a in
let horizon = Srtm.horizon_slope wgs84 alt psi half_aperture horizon_distance in
let a = deg_of_rad horizon in
lprintf "%.0f, /* heading=%.2f */\\\n" a psi
done;
lprintf " }\n"
let print_heights = fun xml wgs84 alt ->
begin
let compute = ref true in
let utm0_low_x = try (float_attrib xml "ir_square_utmx_min")
with _ -> compute:= false; 657530.0 in
let utm0_low_y = try (float_attrib xml "ir_square_utmy_max")
with _ -> compute:= false; 5261130.0 in
let ir_correction_width = try int_of_string ( Xml.attrib xml "ir_square_width")
with _ -> 180 in
let max_index = try int_of_string ( Xml.attrib xml "ir_correct_steps")
with _ -> 2 in
Xml2h.define "IR_SQUARE_UTMX_MIN" (string_of_float utm0_low_x);
Xml2h.define "IR_SQUARE_UTMY_MAX" (string_of_float utm0_low_y);
Xml2h.define "IR_CORRECTION_MAX_INDEX" (string_of_int max_index);
Srtm.add_path (Env.paparazzi_home ^ "/data/srtm");
Xml2h.define "NB_HEIGHTS" (string_of_int nb_heights);
Xml2h.define "HEIGHTS" "{ /* Degrees from default alt*/\\";
let utm0 = utm_of WGS84 wgs84 in
let ir_correction_step = float_of_int (ir_correction_width / max_index) in
for k = 0 to max_index do
lprintf "{ ";
for l = 0 to max_index do
lprintf "{ ";
let wgs84_2 = of_utm WGS84 { utm_zone= utm0.utm_zone; utm_x = utm0_low_x +. ir_correction_step *. (float_of_int k) ; utm_y = utm0_low_y -. ir_correction_step *. (float_of_int l)} in
let a =2. *. pi /. float nb_heights in
for i = 0 to nb_heights - 1 do
let psi = float i *. a in
let horizon = if !compute then Srtm.horizon_slope wgs84_2 alt psi half_aperture horizon_distance else 0.0 in
let a = deg_of_rad horizon in
lprintf "%.0f, /* heading=%.2f */\\\n" a psi
done;
lprintf " }, \\\n";
done;
lprintf "}, \\\n";
done;
lprintf "} \n";
end
let _ =
@@ -598,7 +631,7 @@ let _ =
print_blocks index_of_waypoints blocks;
print_heights wgs84 (int_of_string alt);
print_heights xml wgs84 (int_of_string alt);
Xml2h.finish h_name
end