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gps status

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This commit is contained in:
Gautier Hattenberger
2008-09-02 15:48:20 +00:00
parent f51fccc7bd
commit a808e03683
1 changed files with 4 additions and 1 deletions
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sw/ground_segment/tmtc/booz_translator.ml
+4 -1
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@@ -4,6 +4,8 @@ module Tm_Pprz = Pprz.Messages (struct let name = "telemetry" end)
let ac_id = "149" let ac_id = "149"
let gps_status = ref 0
let get_status = fun _ values -> let get_status = fun _ values ->
let ivalue = fun x -> try Pprz.int_assoc x values with Not_found -> let ivalue = fun x -> try Pprz.int_assoc x values with Not_found ->
failwith (sprintf "Error: field '%s' not found\n" x) in failwith (sprintf "Error: field '%s' not found\n" x) in
@@ -11,6 +13,7 @@ let get_status = fun _ values ->
let ap_mode = ivalue "ap_mode" in let ap_mode = ivalue "ap_mode" in
if ap_mode = 0 then (); (* send kill *) if ap_mode = 0 then (); (* send kill *)
let pprz_mode = ref 0 in let pprz_mode = ref 0 in
gps_status := (ivalue "gps_status");
(* let rc_mode = ivalue "rc_status" in *) (* let rc_mode = ivalue "rc_status" in *)
let mode_values = [ let mode_values = [
"ap_mode", Pprz.Int !pprz_mode; "ap_mode", Pprz.Int !pprz_mode;
@@ -40,7 +43,7 @@ let get_fp = fun _ values ->
let power_12 = 1 lsl 12 in let power_12 = 1 lsl 12 in
let gps_values = [ let gps_values = [
"mode", Pprz.Int 0; "mode", Pprz.Int !gps_status;
"utm_east", Pprz.Int32 (Int32.of_float (utm.Latlong.utm_x *. 100.)); "utm_east", Pprz.Int32 (Int32.of_float (utm.Latlong.utm_x *. 100.));
"utm_north", Pprz.Int32 (Int32.of_float (utm.Latlong.utm_y *. 100.)); "utm_north", Pprz.Int32 (Int32.of_float (utm.Latlong.utm_y *. 100.));
"course", Pprz.Int (573 * psi / power_12); "course", Pprz.Int (573 * psi / power_12);