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kill_mode attribute

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Pascal Brisset
2006-08-20 19:36:57 +00:00
parent 108bfc058f
commit c1c5bf620e
5 changed files with 26 additions and 7 deletions
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conf/messages.xml
+2 -1
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@@ -80,7 +80,7 @@
<field name="desired_gaz" type="int16" unit="pprz"></field>
<field name="voltage" type="uint8" unit="1e-1V"></field>
<field name="flight_time" type="uint16" unit="s"></field>
<field name="status_battery" type="uint8" values="LOW|OK"></field>
<field name="kill_auto_throttle" type="uint8" unit="bool"></field>
<field name="block_time" type="uint16" unit="s"></field>
<field name="stage_time" type="uint16" unit="s"></field>
<field name="energy" type="uint16" unit="mAh"/>
@@ -466,6 +466,7 @@
<field name="horiz_mode" type="string" values="WAYPOINT|ROUTE|CIRCLE"/>
<field name="gaz_mode" type="string" values="MANUAL|GAZ|CLIMB|ALT"/>
<field name="gps_mode" type="string" values="NOFIX|DRO|2D|3D|GPSDRO"/>
<field name="kill_mode" type="string" values="OFF|ON"/>
<field name="flight_time" type="uint32" />
</message>
sw/ground_segment/tmtc/Makefile
+12 -1
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@@ -38,6 +38,9 @@ OCAMLLIB = ../../lib/ocaml
INCLUDES= -I $(OCAMLLIB) -I ../multimon -I +lablgtk2 -I +xml-light
LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
SERVERCMO = aircraft.cmo wind.cmo airprox.cmo server.cmo
SERVERCMX = $(SERVERCMO:.cmo=.cmx)
$(VAR)/boa.conf :$(CONF)/boa.conf
mkdir -p $(VAR)
sed 's|PAPARAZZI_HOME|$(PAPARAZZI_HOME)|' < $< > $@
@@ -49,10 +52,14 @@ messages : messages.cmo
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $^
server : aircraft.cmo wind.cmo airprox.cmo server.cmo
server : $(SERVERCMO)
@echo OL $@
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $^
server.opt : $(SERVERCMX)
@echo OOL $@
$(Q)$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa lablgtk.cmxa glibivy-ocaml.cmxa lib-pprz.cmxa $^
link : modem.cmo link.cmo
@echo OL $@
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $^
@@ -62,6 +69,10 @@ link : modem.cmo link.cmo
@echo OC $<
$(Q)$(OCAMLC) $(INCLUDES) -c $<
%.cmx : %.ml
@echo OOC $<
$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
%.cmi : %.mli $(LIBPPRZCMA)
@echo OC $<
$(Q)$(OCAMLC) $(INCLUDES) $<
sw/ground_segment/tmtc/aircraft.ml
+1
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@@ -93,6 +93,7 @@ type aircraft = {
mutable cur_block : int;
mutable cur_stage : int;
mutable throttle : float;
mutable kill_mode : bool;
mutable throttle_accu : float;
mutable rpm : float;
mutable temp : float;
sw/ground_segment/tmtc/aircraft.mli
+1
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@@ -80,6 +80,7 @@ type aircraft = {
mutable cur_block : int;
mutable cur_stage : int;
mutable throttle : float;
mutable kill_mode : bool;
mutable throttle_accu : float;
mutable rpm : float;
mutable temp : float;
sw/ground_segment/tmtc/server.ml
+10 -5
View File
@@ -191,6 +191,7 @@ let log_and_parse = fun logging ac_name a msg values ->
| "BAT" ->
a.last_bat_msg_date <- U.gettimeofday ();
a.throttle <- fvalue "desired_gaz" /. 9600. *. 100.;
a.kill_mode <- ivalue "kill_auto_throttle" <> 0;
a.flight_time <- ivalue "flight_time";
a.rpm <- a.throttle *. 100.;
a.bat <- fvalue "voltage" /. 10.;
@@ -512,14 +513,17 @@ let send_aircraft_msg = fun ac ->
let gaz_mode = get_indexed_value gaz_modes a.gaz_mode in
let lat_mode = get_indexed_value lat_modes a.lateral_mode in
let horiz_mode = get_indexed_value horiz_modes a.horizontal_mode in
let gps_mode = get_indexed_value gps_modes a.gps_mode in
let gps_mode = get_indexed_value gps_modes a.gps_mode
and kill_mode = if a.kill_mode then "ON" else "OFF" in
let values = ["ac_id", Pprz.String ac;
"flight_time", Pprz.Int a.flight_time;
"ap_mode", Pprz.String ap_mode;
"gaz_mode", Pprz.String gaz_mode;
"lat_mode", Pprz.String lat_mode;
"horiz_mode", Pprz.String horiz_mode;
"gps_mode", Pprz.String gps_mode] in
"gps_mode", Pprz.String gps_mode;
"kill_mode", Pprz.String kill_mode
] in
Ground_Pprz.message_send my_id "AP_STATUS" values;
send_cam_status a;
@@ -551,7 +555,7 @@ let new_aircraft = fun id ->
nav_ref = None;
cam = { phi = 0.; theta = 0. ; target=(0.,0.)};
inflight_calib = { if_mode = 1 ; if_val1 = 0.; if_val2 = 0.};
infrared = infrared_init;
infrared = infrared_init; kill_mode = false;
fbw = { rc_status = "???"; rc_mode = "???" };
svinfo = Array.create gps_nb_channels svinfo_init;
dl_setting_values = Array.create max_nb_dl_setting_values 42.;
@@ -564,8 +568,9 @@ let new_aircraft = fun id ->
let check_alerts = fun a ->
let send = fun level ->
let vs =
["ac_id", Pprz.String a.id; "level", Pprz.String level; "value", Pprz.Float a.bat] in
let vs = [ "ac_id", Pprz.String a.id;
"level", Pprz.String level;
"value", Pprz.Float a.bat] in
Alerts_Pprz.message_send my_id "BAT_LOW" vs in
if a.bat < 9. then send "CATASTROPHIC"
else if a.bat < 10. then send "CRITIC"