*** empty log message ***

sw/airborne/fly_by_wire/test/setup_servos.c

@@ -34,15 +34,15 @@
 #define MSG_END '\n'
 
 #define UNINIT        0
-#define GOT_START    1
-#define GOT_CHANNEL    2
-#define GOT_LOW      3
-#define GOT_HI      4
+#define GOT_START     1
+#define GOT_CHANNEL   2
+#define GOT_LOW       3
+#define GOT_HI        4
 
 
 static uint8_t msg_status;
 static uint8_t servo;
-static uint16_t value; /* micro-seconds */
+static uint16_t value; /* microseconds */
 static volatile bool_t msg_valid;
 
 static inline void parse_msg(uint8_t c) {

sw/ground_segment/tmtc/Makefile

@@ -22,7 +22,7 @@
 
 include ../../../conf/Makefile.local
 
-all: receive messages
+all: receive messages listen.opt
 
 clean:
 	rm -f receive messages *.bak *~ core *.o .depend *.opt *.out *.cm*

sw/ground_segment/tmtc/listen.ml

@@ -32,12 +32,12 @@ let _ =
   let class_name = ref "telemetry_fbw" in
   let serial_dev = ref "/dev/ttyUSB0" in
   Arg.parse
-    [ "-b", Arg.String (fun x -> bus := x), "Bus\tDefault is 127.255.255.25:2010";
-      "-c",  Arg.String (fun x -> class_name := x), "class name";
-      "-d",  Arg.String (fun x -> serial_dev := x), "serial device"]
+    [ "-b",  Arg.String (fun x -> bus := x), "Bus\tDefault is 127.255.255.25:2010";
+      "-c",  Arg.String (fun x -> class_name := x), "Message class name\tDefault is telemetry_fbw";
+      "-d",  Arg.String (fun x -> serial_dev := x), "Serial device\tDefault is /dev/ttyUSB0"]
     (fun x -> prerr_endline ("WARNING: don't do anything with "))
     "Usage: ";
-
+  
   let module Tele_Class = struct let name = !class_name end in
   let module Tele_Pprz = Pprz.Protocol(Tele_Class) in
   let module PprzTransport = Serial.Transport(Tele_Pprz) in
@@ -63,7 +63,7 @@ let _ =
   let handle_pprz_message = fun (msg_id, values) ->
     let msg = Tele_Pprz.message_of_id msg_id in
     let s = String.concat " " (List.map snd values) in
-    Ivy.send (sprintf "%s %s" msg.Pprz.name s) in
+    Ivy.send (sprintf "1234.567 %s %s" msg.Pprz.name s) in
 
   listen_tty handle_pprz_message !serial_dev;
   Ivy.init "Paparazzi listen" "READY" (fun _ _ -> ());

sw/ground_segment/tmtc/messages.ml

@@ -56,7 +56,8 @@ let format = fun field ->
 open GMain
 let _ =
   let bus = ref "127.255.255.255:2010" in
-  let classes = ref ["telemetry_ap";"ground"] in
+(*  let classes = ref ["telemetry_ap";"ground"] in *)
+  let classes = ref [] in
   Arg.parse
     [ "-b", Arg.String (fun x -> bus := x), "Bus\tDefault is 127.255.255.25:2010";
       "-c",  Arg.String (fun x -> classes := x :: !classes), "class name"]

sw/lib/ocaml/pprz.ml

@@ -119,8 +119,10 @@ let magic = fun x -> (Obj.magic x:('a,'b,'c) Pervasives.format)
   let format_field = fun buffer index (field:field) ->
     let format = field.fformat in
     match field._type with
-      "uint8" | "int8" -> sprintf (magic format) (Char.code buffer.[index])
-    | "uint16" | "int16" -> sprintf (magic format) (Char.code buffer.[index] lsl 8 + Char.code buffer.[index+1])
+      "uint8" -> sprintf (magic format) (Char.code buffer.[index])
+    | "int8" -> sprintf (magic format) (if Char.code buffer.[index] <= 128 then Char.code buffer.[index] else Char.code buffer.[index] - 256)
+    | "uint16" -> sprintf (magic format) (Char.code buffer.[index] lsl 8 + Char.code buffer.[index+1])
+    | "int16" -> sprintf (magic format) (if Char.code buffer.[index] lsl 8 + Char.code buffer.[index+1] <= 32768 then Char.code buffer.[index] lsl 8 + Char.code buffer.[index+1] else Char.code buffer.[index] lsl 8 + Char.code buffer.[index+1] - 65536)
     | "float" ->  sprintf (magic format) (float_of_bytes buffer index)
     | "int32"  | "uint32" -> sprintf (magic format) (int32_of_bytes buffer index)
     | _ -> failwith "format_field"

sw/supervision/paparazzi.pl

@@ -7,7 +7,7 @@ BEGIN {
     $ENV{PAPARAZZI_SRC}."/sw/lib/perl" : "/usr/lib/paparazzi/";
 }
 use lib ($paparazzi_lib);
-# use lib ($ENV{PAPARAZZI_SRC}."/sw/supervision");
+use lib ($ENV{PAPARAZZI_SRC}."/sw/supervision");
 
 use Paparazzi::CpGui;
 @ISA = qw(Paparazzi::CpGui);

sw/tools/gen_radio.ml

@@ -80,7 +80,8 @@ let _ =
   define "RADIO_NEUTRALS_US" (sprint_float_array (List.map (fun x -> x.neutral) channels_params));
   define "RADIO_MAXS_US" (sprint_float_array (List.map (fun x -> x.max) channels_params));
   define "RADIO_AVERAGED" (sprint_float_array (List.map (fun x -> x.averaged) channels_params));
-  
+  define "RADIO_NEUTRALS_PPM" (sprint_float_array (List.map (fun x -> string_of_int ((int_of_string x.neutral)*16)) channels_params));
+  define "RADIO_TRAVEL_PPM" (sprint_float_array (List.map (fun x -> string_of_float (9600. *. 2. /. (float ((int_of_string x.max) - (int_of_string x.min))) /. 16.)) channels_params));
   nl ();
   define "AveragedChannel(ch)" "(((int[])RADIO_AVERAGED)[ch])";