kill_mode attribute

conf/messages.xml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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 =
+    let vs = [ "ac_id", Pprz.String a.id; 
-      ["ac_id", Pprz.String a.id; "level", Pprz.String level; "value", Pprz.Float a.bat] in
+	       "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"