*** empty log message ***

conf/airframes/microjet7.xml

@@ -106,6 +106,7 @@
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
   </section>
  
   <section name="VERTICAL CONTROL" prefix="V_CTL_">

conf/airframes/slayer1.xml

@@ -54,7 +54,7 @@
 
   <section name="INFRARED" prefix="IR_">
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="7" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
@@ -64,14 +64,14 @@
     <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
     <define name="ADC_ROLL_NEUTRAL" value="507"/>
     <define name="ADC_PITCH_NEUTRAL" value="-16"/>
-    <define name="ADC_TOP_NEUTRAL" value="488"/>
+    <define name="ADC_TOP_NEUTRAL" value="533"/>
 
     <define name="CORRECTION_UP" value="1.6"/>
     <define name="CORRECTION_DOWN" value="1.4"/>
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.44"/>
+    <define name="ESTIMATED_PHI_PI_4" value="0.55"/>
 
     <define name="360_LATERAL_CORRECTION" value="1.25"/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1.25"/>
@@ -79,7 +79,7 @@
   </section>
 
  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="470"/>
+    <define name="ADC_ROLL_NEUTRAL" value="467"/>
     <define name="ADC_PITCH_NEUTRAL" value="471"/>
     <define name="ROLL_SCALE" value="1.3846"/>
     <define name="ROLL_DIRECTION" value="1."/> 
@@ -101,6 +101,9 @@
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1.1"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
 
  <section name="VERTICAL CONTROL" prefix="V_CTL_">

conf/airframes/slayer2.xml

@@ -51,7 +51,7 @@
 
   <section name="INFRARED" prefix="IR_">
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-4" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
@@ -59,7 +59,7 @@
     <linear name="TopOfIr" arity="1" coeff1="-1"/>
     <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
     <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
-    <define name="ADC_ROLL_NEUTRAL" value="512"/>
+    <define name="ADC_ROLL_NEUTRAL" value="495"/>
     <define name="ADC_PITCH_NEUTRAL" value="-7"/>
     <define name="ADC_TOP_NEUTRAL" value="530"/>
 
@@ -68,7 +68,7 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.8"/>
+    <define name="ESTIMATED_PHI_PI_4" value="0.7"/>
 
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
@@ -76,7 +76,7 @@
   </section>
 
  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="449"/>
+    <define name="ADC_ROLL_NEUTRAL" value="453"/>
     <define name="ADC_PITCH_NEUTRAL" value="471"/>
     <define name="ROLL_SCALE" value="1.3846"/>
     <define name="ROLL_DIRECTION" value="1."/> 
@@ -96,6 +96,9 @@
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
     <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
 
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -126,7 +129,7 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.7"/>
+    <define name="COURSE_PGAIN" value="-0.85"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
     <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>

conf/airframes/slayer3.xml

@@ -99,6 +99,9 @@
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
     <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
 
  <section name="VERTICAL CONTROL" prefix="V_CTL_">

conf/flight_plans/flight_plan.dtd

@@ -12,14 +12,14 @@
 <!ELEMENT exceptions (exception*)>
 
 <!ELEMENT blocks (block+)>
-<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|circle|deroute|stay|follow|survey_rectangle|for|return)*>
+<!ELEMENT block (exception|while|heading|attitude|go|xyz|set|circle|deroute|stay|follow|survey_rectangle|for|return|eight)*>
 
 <!ELEMENT include (arg|with)*>
 <!ELEMENT arg EMPTY>
 <!ELEMENT with EMPTY>
 
-<!ELEMENT while (exception|while|heading|attitude|go|xyz|set|circle|deroute|stay|follow|survey_rectangle|for|return)*>
+<!ELEMENT while (exception|while|heading|attitude|go|xyz|set|circle|deroute|stay|follow|survey_rectangle|for|return|eight)*>
-<!ELEMENT for (exception|while|heading|attitude|go|xyz|set|circle|deroute|stay|follow|survey_rectangle|for|return)*>
+<!ELEMENT for (exception|while|heading|attitude|go|xyz|set|circle|deroute|stay|follow|survey_rectangle|for|return|eight)*>
 <!ELEMENT exception EMPTY>
 <!ELEMENT heading EMPTY>
 <!ELEMENT attitude EMPTY>
@@ -27,6 +27,7 @@
 <!ELEMENT xyz EMPTY>
 <!ELEMENT set EMPTY>
 <!ELEMENT circle EMPTY>
+<!ELEMENT eight EMPTY>
 <!ELEMENT survey_rectangle EMPTY>
 <!ELEMENT deroute EMPTY>
 <!ELEMENT stay EMPTY>
@@ -145,6 +146,11 @@ pitch CDATA #IMPLIED
 throttle CDATA #IMPLIED
 until CDATA #IMPLIED>
 
+<!ATTLIST eight
+center CDATA #REQUIRED
+turn_around CDATA #REQUIRED
+radius CDATA #REQUIRED>
+
 <!ATTLIST survey_rectangle
 grid CDATA #REQUIRED
 wp1 CDATA #REQUIRED

conf/settings/tuning.xml

@@ -24,11 +24,18 @@
       <dl_settings NAME="ir">
         <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral"/>
         <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral"/>
+
+<!--
         <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left"/>
         <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right"/>
         <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up"/>
         <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down"/>
-        <dl_setting MAX="1." MIN="0.1" STEP="0.05" VAR="ir_estimated_phi_pi_4" shortname="est. phi pi/4"/>
+-->
+
+        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_phi_pi_4" shortname="est. right"/>
+        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_phi_minus_pi_4" shortname="est. left"/>
+        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_theta_pi_4" shortname="est. up"/>
+        <dl_setting MAX="1.5" MIN="0.4" STEP="0.05" VAR="ir_estimated_phi_minus_pi_4" shortname="est. down"/>
         <dl_setting MAX="1" MIN="0" STEP="1" VAR="ir_360" shortname="ir_360"/>
       </dl_settings>
 

sw/airborne/infrared.c

@@ -46,10 +46,27 @@ float ir_roll_neutral;
 float ir_pitch_neutral;
 
 bool_t ir_360;
-float ir_estimated_phi_pi_4;
+float ir_estimated_phi_pi_4, ir_estimated_phi_minus_pi_4;
+float ir_estimated_theta_pi_4, ir_estimated_theta_minus_pi_4;
 
 #ifndef IR_360
+
 #define IR_360 FALSE
+
+#else
+
+#ifndef IR_ESTIMATED_PHI_MINUS_PI_4
+#define IR_ESTIMATED_PHI_MINUS_PI_4 IR_ESTIMATED_PHI_PI_4
+#endif
+
+#ifndef IR_ESTIMATED_THETA_PI_4
+#define IR_ESTIMATED_THETA_PI_4 IR_ESTIMATED_PHI_PI_4
+#endif
+
+#ifndef IR_ESTIMATED_THETA_MINUS_PI_4
+#define IR_ESTIMATED_THETA_MINUS_PI_4 IR_ESTIMATED_THETA_PI_4
+#endif
+
 #endif
 
 
@@ -133,6 +150,9 @@ void ir_init(void) {
 
   ir_360 = IR_360;
   ir_estimated_phi_pi_4 = IR_ESTIMATED_PHI_PI_4;
+  ir_estimated_phi_minus_pi_4 = IR_ESTIMATED_PHI_MINUS_PI_4;
+  ir_estimated_theta_pi_4 = IR_ESTIMATED_THETA_PI_4;
+  ir_estimated_theta_minus_pi_4 = IR_ESTIMATED_THETA_MINUS_PI_4;
 
   ir_contrast = IR_DEFAULT_CONTRAST;
   ir_rad_of_ir = IR_RAD_OF_IR_CONTRAST / IR_DEFAULT_CONTRAST;
@@ -249,17 +269,27 @@ void estimator_update_ir_estim( void ) {
 }
 
 
-static inline float correct_angle(float m_angle, float est_pi_4) {
+/* Correction of the infrared estimation roll angle: returns pi/4 for
-  if (fabs(m_angle) < est_pi_4) 
+   est_pi_4 */
+static inline float correct_angle(float m_angle, float est_pi_4, float est_minus_pi_4) {
+  if (m_angle >= 0 && m_angle < est_pi_4) 
+    /* 0 .. est_pi_4 */
     return (m_angle * M_PI_4 / est_pi_4);
   else if (m_angle > M_PI - est_pi_4)
+    /* pi-est_pi_4 .. pi */
     return (m_angle - (M_PI - est_pi_4))* M_PI_4 / est_pi_4 + 3*M_PI_4;
   else if (m_angle >= est_pi_4)
+    /* est_pi_4 .. pi-est_pi_4 */
     return (m_angle - est_pi_4) * M_PI_4 / (M_PI_2 - est_pi_4) + M_PI_4;
-  else if (m_angle < - (M_PI - est_pi_4))
+  else if (m_angle <= 0 && m_angle > -est_minus_pi_4) 
-    return (m_angle + M_PI)* M_PI_4 / est_pi_4 + -M_PI;
+    /* -est_pi_4 .. 0 */
+    return (m_angle * M_PI_4 / est_minus_pi_4);
+  else if (m_angle < - (M_PI - est_minus_pi_4))
+    /* -pi .. -(pi-est_pi_4) */
+    return (m_angle + M_PI)* M_PI_4 / est_minus_pi_4 + -M_PI;
   else
-    return (m_angle - (-M_PI+est_pi_4)) * M_PI_4 / (M_PI_2 - est_pi_4) - 3 * M_PI_4;
+    /* -(pi-est_pi_4) .. -est_pi_4 */
+    return (m_angle - (-M_PI+est_minus_pi_4)) * M_PI_4 / (M_PI_2 - est_minus_pi_4) - 3 * M_PI_4;
 }
 
 
@@ -306,10 +336,10 @@ void estimator_update_state_infrared( void ) {
     float tmp_ir_top = ir_top * IR_360_VERTICAL_CORRECTION;
 
     estimator_phi  = atan2(tmp_ir_roll, tmp_ir_top) - ir_roll_neutral;
-    estimator_phi = correct_angle(estimator_phi, ir_estimated_phi_pi_4);
+    estimator_phi = correct_angle(estimator_phi, ir_estimated_phi_pi_4, ir_estimated_phi_minus_pi_4);
 
     estimator_theta  = atan2(tmp_ir_pitch, tmp_ir_top) - ir_pitch_neutral;
-    estimator_theta = correct_angle(estimator_theta, ir_estimated_phi_pi_4);
+    estimator_theta = correct_angle(estimator_theta, ir_estimated_theta_pi_4, ir_estimated_theta_minus_pi_4);
     if (estimator_theta < -M_PI_2)
       estimator_theta += M_PI;
     else if (estimator_theta > M_PI_2)

sw/airborne/infrared.h

@@ -49,7 +49,9 @@ extern float   ir_rad_of_ir;
 extern int16_t ir_contrast;
 extern float z_contrast_mode;
 extern bool_t ir_360;
-extern float ir_estimated_phi_pi_4;
+extern float ir_estimated_phi_pi_4, ir_estimated_phi_minus_pi_4;
+extern float ir_estimated_theta_pi_4, ir_estimated_theta_minus_pi_4;
+
 
 #if defined IR_CORRECTION_LEFT && defined IR_CORRECTION_RIGHT
 extern float ir_correction_left;

sw/airborne/main_ap.c

@@ -116,10 +116,16 @@ uint8_t light_mode = 0;
 /** \brief Update paparazzi mode
  */
 static inline uint8_t pprz_mode_update( void ) {
-  /** We remain in home mode until explicit reset from the RC */
   if ((pprz_mode != PPRZ_MODE_HOME &&
        pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER)
-      || CheckEvent(rc_event_1)) {
+      ||
+#ifdef UNLOCKED_HOME_MODE
+      TRUE
+#else
+      /** We remain in home mode until explicit reset from the RC */
+      CheckEvent(rc_event_1)
+#endif
+      ) {
     return ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE], fbw_state->status));
   } else
     return FALSE;
@@ -224,7 +230,7 @@ inline void telecommand_task( void ) {
   copy_from_to_fbw();
   
   uint8_t really_lost = bit_is_set(fbw_state->status, RADIO_REALLY_LOST) && (pprz_mode == PPRZ_MODE_AUTO1 || pprz_mode == PPRZ_MODE_MANUAL);
-  if (pprz_mode != PPRZ_MODE_HOME && pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER && launch && (/*  really_lost || */ too_far_from_home)) {
+  if (pprz_mode != PPRZ_MODE_HOME && pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER && launch && (really_lost || too_far_from_home)) {
     pprz_mode = PPRZ_MODE_HOME;
     mode_changed = TRUE;
   }
@@ -473,11 +479,6 @@ void periodic_task_ap( void ) {
       ap_state->commands[COMMAND_ROLL] = h_ctl_aileron_setpoint;
       ap_state->commands[COMMAND_PITCH] = h_ctl_elevator_setpoint;
 
-#ifdef COMMAND_HATCH_CMD
-      extern pprz_t hatch_cmd;
-      ap_state->commands[COMMAND_HATCH_CMD] = hatch_cmd;
-#endif
-
 #if defined MCU_SPI_LINK
       link_mcu_send();
 #elif defined INTER_MCU && defined SINGLE_MCU

sw/airborne/nav.c

@@ -371,22 +371,28 @@ bool_t moved_waypoints[NB_WAYPOINT+1];
  *  uav has not gone past waypoint.
  *  Return true if it is the case.
  */
-static bool_t approaching(uint8_t wp, float approaching_time) {
+static bool_t approaching_xy(float x, float y, float approaching_time) {
   /** distance to waypoint in x */
-  float pw_x = waypoints[wp].x - estimator_x;
+  float pw_x = x - estimator_x;
   /** distance to waypoint in y */
-  float pw_y = waypoints[wp].y - estimator_y;
+  float pw_y = y - estimator_y;
 
   dist2_to_wp = pw_x*pw_x + pw_y *pw_y;
   float min_dist = approaching_time * estimator_hspeed_mod;
   if (dist2_to_wp < min_dist*min_dist)
     return TRUE;
 
-  float scal_prod = (waypoints[wp].x - last_x) * pw_x + (waypoints[wp].y - last_y) * pw_y;
+  float scal_prod = (x - last_x) * pw_x + (y - last_y) * pw_y;
   
   return (scal_prod < 0.);
 }
 
+static bool_t approaching(uint8_t wp, float approaching_time) {
+  return approaching_xy(waypoints[wp].x, waypoints[wp].y, approaching_time);
+}
+
+
+
 /** static inline void fly_to_xy(float x, float y)
  *  \brief Computes \a desired_x, \a desired_y and \a desired_course.
  */
@@ -422,7 +428,6 @@ static void route_to_xy(float last_wp_x, float last_wp_y, float wp_x, float wp_y
   float carrot = CARROT * estimator_hspeed_mod;
 
   alpha += Max(carrot / leg, 0.);
-  alpha = Min(1., alpha);
   in_segment = TRUE;
   segment_x_1 = last_wp_x;
   segment_y_1 = last_wp_y;
@@ -531,3 +536,75 @@ void nav_without_gps(void) {
   nav_desired_gaz = TRIM_UPPRZ((CRUISE_THROTTLE)*MAX_PPRZ);
 #endif
 }
+
+
+enum eight_status { EW, CW, WE, CE };
+
+static enum eight_status eight_status;
+void nav_eight_init( void ) {
+  eight_status = CE;
+}
+
+void nav_eight(uint8_t center, uint8_t TA1, float radius) {
+  float alt = waypoints[center].a;
+  waypoints[TA1].a = alt;
+
+  float center_TA1_x = waypoints[TA1].x - waypoints[center].x;
+  float center_TA1_y = waypoints[TA1].y - waypoints[center].y;
+
+  struct point TA2 = { waypoints[TA1].x - 2*center_TA1_x,
+		       waypoints[TA1].y - 2*center_TA1_y,
+		       alt };
+
+  float d = sqrt(center_TA1_x*center_TA1_x+center_TA1_y*center_TA1_y);
+  float u_x = center_TA1_x / d;
+  float u_y = center_TA1_y / d;
+
+  struct point TA1N = { waypoints[TA1].x + radius * -u_y,
+		 waypoints[TA1].y + radius * u_x,
+		       alt  };
+  struct point TA1S = { waypoints[TA1].x - radius * -u_y,
+			waypoints[TA1].y - radius * u_x,
+		       alt  };
+		 
+  struct point TA2N = { TA2.x + radius * -u_y,
+			TA2.y + radius * u_x,
+			alt  };
+  struct point TA2S = { TA2.x - radius * -u_y,
+			TA2.y - radius * u_x,
+			alt  };
+
+  float qdr_out = M_PI - atan2(u_y, u_x);
+		 
+  switch (eight_status) {
+  case CE :
+    Circle(TA1, radius);
+    if (Qdr(DegOfRad(qdr_out)-10)) {
+      eight_status = EW;
+      InitStage();
+    }
+    return;
+  case EW:
+    route_to_xy(TA1S.x, TA1S.y, TA2N.x, TA2N.y);
+    if (approaching_xy(TA2N.x, TA2N.y,CARROT)) { 
+      eight_status = CW;
+      InitStage();
+    }
+    return;
+  case CW :
+    CircleXY(TA2.x, TA2.y, -radius);
+    if (Qdr(DegOfRad(qdr_out)+10)) {
+      eight_status = WE;
+      InitStage();
+    }
+   return;
+  case WE:
+    route_to_xy(TA2S.x, TA2S.y, TA1N.x, TA1N.y);
+    if (approaching_xy(TA1N.x, TA1N.y,CARROT)) { 
+      eight_status = CE;
+      InitStage();
+    }
+    return;
+
+  }
+}

sw/airborne/nav.h

@@ -94,6 +94,10 @@ extern uint8_t horizontal_mode;
   } \
 }
 
+extern void nav_eight_init( void );
+extern void nav_eight(uint8_t, uint8_t, float);
+#define Eight(a, b, c) nav_eight((a), (b), (c))
+
 extern float ground_alt;
 
 extern float survey_west, survey_east, survey_north, survey_south;

sw/ground_segment/cockpit/live.ml

@@ -75,6 +75,7 @@ type aircraft = {
     mutable in_kill_mode : bool;
     mutable speed : float;
     mutable alt : float;
+    mutable target_alt : float;
     mutable flight_time : int;
     mutable wind_speed : float;
     mutable wind_dir : float (* Rad *)
@@ -91,7 +92,7 @@ let log =
   let last = ref M.empty in
   fun ?(say = false) (a:Pages.alert) ac_id s ->
     if not (M.mem ac_id !last) || M.find ac_id !last <> s then begin
-      last := M.add ac_id s !last;
+      last := M.add ac_id s (M.remove ac_id !last);
       if say then Speech.say s;
       a#add s
     end
@@ -307,7 +308,7 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
   let select_this_tab =
     let n = acs_notebook#page_num ac_frame#coerce in
     fun () -> acs_notebook#goto_page n in
-  let strip = Strip.add config color select_this_tab center_ac commit_moves (mark geomap ac_id track !Plugin.frame) in
+  let strip = Strip.add config color select_this_tab center_ac (mark geomap ac_id track !Plugin.frame) in
 
 
   (** Build the XML flight plan, connect then "jump_to_block" *)
@@ -340,7 +341,7 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
       let label = ExtXml.attrib b "strip_button"
       and id = ExtXml.int_attrib b "no" in
       let  b = GButton.button ~label () in
-      Strip.add_widget strip b#coerce;
+      strip#add_widget b#coerce;
       ignore (b#connect#clicked (fun _ -> jump_to_block ac_id id))
     with
        _ -> ())
@@ -380,18 +381,19 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
       prerr_endline (Printexc.to_string exc);
       Xml.Element("empty", [], [])
   in
+  let dl_setting_callback = fun idx value -> 
+    let vs = ["ac_id", Pprz.String ac_id; "index", Pprz.Int idx;"value", Pprz.Float value] in
+    Ground_Pprz.message_send "dl" "DL_SETTING" vs in
   let dl_settings_page =
     try
       let xml_settings = Xml.children (ExtXml.child settings_xml "dl_settings") in
-      let callback = fun idx value -> 
+      let settings_tab = new Pages.settings ~visible xml_settings dl_setting_callback strip in
-	let vs = ["ac_id", Pprz.String ac_id; "index", Pprz.Int idx;"value", Pprz.Float value] in
+
-	Ground_Pprz.message_send "dl" "DL_SETTING" vs in
-      let settings_tab = new Pages.settings ~visible xml_settings callback strip in
       let tab_label = (GMisc.label ~text:"Settings" ())#coerce in
       ac_notebook#append_page ~tab_label settings_tab#widget;
       Some settings_tab
     with exc ->
-      prerr_endline (Printexc.to_string exc);
+      log alert ac_id (Printexc.to_string exc);
       None in
   
   let rc_settings_page =
@@ -415,7 +417,7 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
 	       dl_settings_page = dl_settings_page;
 	       rc_settings_page = rc_settings_page;
 	       strip = strip; first_pos = true;
-	       last_block_name = ""; alt = 0.;
+	       last_block_name = ""; alt = 0.; target_alt = 0.;
 	       in_kill_mode = false; speed = 0.;
 	       wind_dir = 42.;
 	       wind_speed = 0.; } in
@@ -443,7 +445,24 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
     true
   in
 
-  ignore (Glib.Timeout.add 10000 send_wind)
+  ignore (Glib.Timeout.add 10000 send_wind);
+
+  (** Connect the shift altitude buttons *)
+  begin
+    match dl_settings_page with
+      Some settings_tab ->
+	let flight_altitude_id, _flight_altitude_label = 
+	  try
+	    settings_tab#assoc "flight_altitude"
+	  with Not_found ->
+	    failwith "flight_altitude not setable" in
+	strip#connect_shift_alt
+	  (fun x -> 
+	    dl_setting_callback flight_altitude_id (ac.target_alt +. x));
+    | None -> ()
+  end
+      
+
 
 
 
@@ -488,8 +507,8 @@ let get_wind_msg = fun (geomap:G.widget) _sender vs ->
 let get_fbw_msg = fun _sender vs ->
   let ac = get_ac vs in
   let status = Pprz.string_assoc "rc_status" vs in
-  Strip.set_label ac.strip "RC" status;
+  ac.strip#set_label "RC" status;
-  Strip.set_color ac.strip "RC"
+  ac.strip#set_color "RC"
     (match status with
       "LOST" | "REALLY_LOST" -> warning_color 
     | _ -> ok_color)
@@ -498,9 +517,9 @@ let get_fbw_msg = fun _sender vs ->
 
 let get_engine_status_msg = fun _sender vs ->
   let ac = get_ac vs in
-  Strip.set_label ac.strip "throttle" 
+  ac.strip#set_label "throttle" 
     (string_of_float (Pprz.float_assoc "throttle" vs));
-  Strip.set_bat ac.strip (Pprz.float_assoc "bat" vs)
+  ac.strip#set_bat (Pprz.float_assoc "bat" vs)
     
 let get_if_calib_msg = fun _sender vs ->
   let ac = get_ac vs in
@@ -589,14 +608,14 @@ let listen_flight_params = fun geomap auto_center_new_ac alert ->
 	then sprintf "- %.1f" (abs_float value)
 	else sprintf "%.1f" value
       in
-      Strip.set_label ac.strip lbl_name s
+      ac.strip#set_label lbl_name s
     in
     set_label "alt" alt;
     set_label "speed" speed;
     set_label "climb" climb;
     let agl = (a "agl") in
     ac.alt <- alt;
-    Strip.set_agl ac.strip agl;
+    ac.strip#set_agl agl;
     if (ac.flight_time > 10 && agl < 20.) then
       log_and_say alert ac.ac_name (sprintf "%s, %s" ac.ac_name "Ground Proximity Warning")
 
@@ -612,25 +631,25 @@ let listen_flight_params = fun geomap auto_center_new_ac alert ->
     and cur_stage = Pprz.int_assoc "cur_stage" vs in
     highlight_fp ac cur_block cur_stage;
     let set_label = fun l f ->
-      Strip.set_label ac.strip l (sprintf "%.1f" (Pprz.float_assoc f vs)) in
+      ac.strip#set_label l (sprintf "%.1f" (Pprz.float_assoc f vs)) in
     set_label "->" "target_alt";
     set_label "/" "target_climb";
     let target_alt = Pprz.float_assoc "target_alt" vs in
-    Strip.set_label ac.strip "diff_target_alt" (sprintf "%+.0f" (ac.alt -. target_alt));
+    ac.strip#set_label "diff_target_alt" (sprintf "%+.0f" (ac.alt -. target_alt));
-
+    ac.target_alt <- target_alt;
     let b = List.assoc cur_block ac.blocks in
     if b <> ac.last_block_name then begin
       log_and_say alert ac.ac_name (sprintf "%s, %s" ac.ac_name b);
       ac.last_block_name <- b;
       let b = String.sub b 0 (min 10 (String.length b)) in
-      Strip.set_label ac.strip "block_name" b
+      ac.strip#set_label "block_name" b
     end;
     let block_time = Int32.to_int (Pprz.int32_assoc "block_time" vs)
     and stage_time = Int32.to_int (Pprz.int32_assoc "stage_time" vs) in
     let bt = sprintf "%02d:%02d" (block_time / 60) (block_time mod 60) in
-    Strip.set_label ac.strip "block_time" bt;
+    ac.strip#set_label "block_time" bt;
     let st = sprintf "%02d:%02d" (stage_time / 60) (block_time mod 60) in
-    Strip.set_label ac.strip "stage_time" st
+    ac.strip#set_label "stage_time" st
   in
   safe_bind "NAV_STATUS" get_ns;
 
@@ -686,15 +705,15 @@ let listen_flight_params = fun geomap auto_center_new_ac alert ->
     if ap_mode <> ac.last_ap_mode then begin
       log_and_say alert ac.ac_name (sprintf "%s, %s" ac.ac_name ap_mode);
       ac.last_ap_mode <- ap_mode;
-      Strip.set_label ac.strip "AP" (Pprz.string_assoc "ap_mode" vs);
+      ac.strip#set_label "AP" (Pprz.string_assoc "ap_mode" vs);
-      Strip.set_color ac.strip "AP" (if ap_mode="HOME" then alert_color else ok_color);
+      ac.strip#set_color "AP" (if ap_mode="HOME" then alert_color else ok_color);
     end;
     let gps_mode = Pprz.string_assoc "gps_mode" vs in
-    Strip.set_label ac.strip "GPS" gps_mode;
+    ac.strip#set_label "GPS" gps_mode;
-    Strip.set_color ac.strip "GPS" (if gps_mode<>"3D" then alert_color else ok_color);
+    ac.strip#set_color "GPS" (if gps_mode<>"3D" then alert_color else ok_color);
     let ft = 
       sprintf "%02d:%02d:%02d" (flight_time / 3600) ((flight_time / 60) mod 60) (flight_time mod 60) in
-    Strip.set_label ac.strip "flight_time" ft;
+    ac.strip#set_label "flight_time" ft;
     let kill_mode = Pprz.string_assoc "kill_mode" vs in
     if not ac.in_kill_mode then
       if kill_mode <> "OFF" then begin
@@ -775,8 +794,8 @@ let message_request = Ground_Pprz.message_req
 let get_ts = fun _sender vs ->
   let ac = get_ac vs in
   let t = Pprz.float_assoc "time_since_last_bat_msg" vs in
-  Strip.set_label ac.strip "telemetry_status" (if t > 2. then sprintf "%.1f" t else "   ");
+  ac.strip#set_label "telemetry_status" (if t > 2. then sprintf "%.1f" t else "   ");
-  Strip.set_color ac.strip "telemetry_status" (if t > 5. then alert_color else ok_color)
+  ac.strip#set_color "telemetry_status" (if t > 5. then alert_color else ok_color)
   
 
 let listen_telemetry_status = fun () ->

sw/ground_segment/cockpit/pages.ml

@@ -202,14 +202,15 @@ class misc ~packing (widget: GBin.frame) =
 (*****************************************************************************)
 (* Dataling settings paged                                                   *)
 (*****************************************************************************)
-let one_setting = fun i do_change packing s (tooltips:GData.tooltips) strip ->
+let one_setting = fun i do_change packing s (tooltips:GData.tooltips) (strip:Strip.t) ->
   let f = fun a -> float_of_string (ExtXml.attrib s a) in
   let lower = f "min"
   and upper = f "max"
   and step_incr = f "step" in
   
   let hbox = GPack.hbox ~packing () in
-  let text = try ExtXml.attrib s "shortname" with _ -> ExtXml.attrib s "var" in
+  let varname = ExtXml.attrib s "var" in
+  let text = try ExtXml.attrib s "shortname" with _ -> varname in
   let _l = GMisc.label ~width:100 ~text ~packing:hbox#pack () in
   let _v = GMisc.label ~width:50 ~text:"N/A" ~packing:hbox#pack () in
 
@@ -261,10 +262,10 @@ let one_setting = fun i do_change packing s (tooltips:GData.tooltips) strip ->
     let label = ExtXml.attrib x "name"
     and sp_value = ExtXml.float_attrib x "value" in
     let b = GButton.button ~label () in
-    Strip.add_widget strip b#coerce;
+    strip#add_widget b#coerce;
     ignore (b#connect#clicked (fun _ -> do_change i sp_value)))
     (Xml.children s);
-  _v  
+  (i, varname, _v)
   
   
 let rec build_settings = fun do_change i flat_list xml_settings packing tooltips strip ->
@@ -303,17 +304,21 @@ class settings = fun ?(visible = fun _ -> true) xml_settings do_change strip ->
   let vbox = GPack.vbox ~packing:sw#add_with_viewport () in
   let tooltips = GData.tooltips () in
   let i = ref 0 and l = ref [] in
-  let current_values =
+  let ordered_list =
     build_settings do_change i l xml_settings vbox#add tooltips strip;
-    Array.of_list (List.rev !l) in
+    List.rev !l in
+  let variables = Array.of_list ordered_list in
+  let assocs = List.map (fun (i,var,_v) -> (var, (i, _v))) ordered_list in
   object (self)
     method widget = sw#coerce
     method length = !i
     method set = fun i v ->
       if visible self#widget then
 	let s = string_of_float v in
-	if current_values.(i)#text <> s then
+	let (_, _, current_value) = variables.(i) in
-	  current_values.(i)#set_text s
+	if current_value#text <> s then
+	  current_value#set_text s
+    method assoc var = List.assoc var assocs
   end
 
 

sw/ground_segment/cockpit/pages.mli

@@ -28,6 +28,7 @@ class settings : ?visible:(GObj.widget -> bool) -> Xml.xml list -> (int -> float
   object
     method length : int
     method set : int -> float -> unit
+    method assoc : string -> int * GMisc.label
     method widget : GObj.widget
   end
 

sw/ground_segment/cockpit/strip.ml

@@ -24,6 +24,14 @@
  *
  *)
 
+type t =
+    < add_widget : GObj.widget -> unit;
+      connect_shift_alt : (float -> unit) -> unit;
+	set_agl : ?color:string -> float -> unit;
+	set_bat : ?color:string -> float -> unit;
+	  set_color : string -> string -> unit;
+	    set_label : string -> string -> unit >
+
 let bat_max = 12.5
 let bat_min = 9.
 let agl_max = 150.
@@ -33,12 +41,58 @@ let scrolled = GBin.scrolled_window ~hpolicy: `AUTOMATIC ~vpolicy: `AUTOMATIC ()
 let table = GPack.table ~rows: 1 ~columns: 1 ~row_spacings: 5 ~packing: (scrolled#add_with_viewport) ()
 
 
-type t = {
+
-    agl: GMisc.drawing_area;
+
-    gauge: GMisc.drawing_area;
+(** set a label *)
-    labels: (string * (GBin.event_box * GMisc.label)) list;
+let set_label labels name value = 
-    buttons_box : GPack.box
+  try
-  }
+    let _eb, l = List.assoc (name^"_value") labels in
+    if l#text <> value then
+      l#set_label value
+  with
+    Not_found ->
+      Printf.fprintf stderr "Strip.set_label: '%s' unknown\n%!" name
+
+(** set a color *)
+let set_color labels name color = 
+  let eb, _l = List.assoc (name^"_value") labels in
+  eb#coerce#misc#modify_bg [`NORMAL, `NAME color]
+
+
+let set_gauge = fun ?(color="green") gauge v_min v_max value string ->
+  let {Gtk.width=width; height=height} = gauge#misc#allocation in
+  let dr = GDraw.pixmap ~width ~height ~window:gauge () in
+  dr#set_foreground (`NAME "orange");
+  dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
+  
+  let f = (value -. v_min) /. (v_max -. v_min) in
+  let f = max 0. (min 1. f) in
+  let h = truncate (float height *. f) in
+  dr#set_foreground (`NAME color);
+  dr#rectangle ~x:0 ~y:(height-h) ~width ~height:h ~filled:true ();
+
+  let context = gauge#misc#create_pango_context in
+  let layout = context#create_layout in
+  Pango.Layout.set_text layout string;
+  let (w,h) = Pango.Layout.get_pixel_size layout in
+  dr#put_layout ~x:((width-w)/2) ~y:((height-h)/2) ~fore:`BLACK layout;
+  
+  (new GDraw.drawable gauge#misc#window)#put_pixmap ~x:0 ~y:0 dr#pixmap
+
+
+
+(** set the battery *)
+let set_bat ?color gauge value =
+  set_gauge ?color gauge bat_min bat_max value (string_of_float value)
+
+
+(** set the AGL *)
+let set_agl ?color agl value =
+  set_gauge ?color agl 0. agl_max value (Printf.sprintf "%3.0f" value)
+
+
+let add_widget = fun buttons_box widget ->
+  buttons_box#add widget
 
 let labels_name =  [| 
   [| "AP" ; "alt" ; "->" |]; [| "RC"; "climb"; "/" |]; [| "GPS"; "speed"; "throttle" |]
@@ -53,8 +107,12 @@ let rows = 1 + Array.length labels_name + 1
 let columns = 1 + 2 * Array.length labels_name.(0) + 1
 
 
+
+
+
+
     (** add a strip to the panel *)
-let add config color select center_ac commit_moves mark =
+let add config color select center_ac mark =
   let widget = table in
   (* number of the strip *)
   let strip_number = gen_int () in
@@ -107,13 +165,13 @@ let add config color select center_ac commit_moves mark =
   gauge#misc#realize ();
 
   (* AGL gauge *)
-  let agl_box = GBin.event_box ~packing:(strip#attach ~top:1 ~bottom:(rows-1) ~left:(columns-1)) () in
+  let agl_box = GBin.event_box ~packing:(strip#attach ~top:1 ~bottom:3 ~left:(columns-1)) () in
   let agl = GMisc.drawing_area ~width:30 ~height:60 ~show:true ~packing:agl_box#add () in
   agl#misc#realize ();
   tooltips#set_tip agl_box#coerce ~text:"AGL (m)";
 
   (* Diff to target altitude *)
-  let dta_box = GBin.event_box ~packing:(strip#attach ~top:(rows-1) ~left:(columns-1)) () in
+  let dta_box = GBin.event_box ~packing:(strip#attach ~top:3 ~left:(columns-1)) () in
   let diff_target_alt = GMisc.label ~text: "+0" ~packing:dta_box#add () in
   add_label "diff_target_alt_value" (plane_color, diff_target_alt);
   tooltips#set_tip dta_box#coerce ~text:"Height to target (m)";
@@ -141,63 +199,26 @@ let add config color select center_ac commit_moves mark =
   let top = rows - 1 in
   let b = GButton.button ~label:"Center A/C" ~packing:(strip#attach ~top ~left:1 ~right:3) () in
   ignore(b#connect#clicked ~callback:center_ac);
-  let b = GButton.button ~label:"Mark" ~packing:(strip#attach ~top ~left:5 ~right:7) () in
+  let b = GButton.button ~label:"Mark" ~packing:(strip#attach ~top ~left:3 ~right:5) () in
+  ignore (b#connect#clicked  ~callback:mark);
+
+  let minus5 = GButton.button ~label:"-5m" ~packing:(strip#attach ~top ~left:5) ()
+  and plus5 = GButton.button ~label:"+5m" ~packing:(strip#attach ~top ~left:6) ()
+  and plus30 = GButton.button ~label:"+30m" ~packing:(strip#attach ~top ~left:7) () in
   ignore (b#connect#clicked  ~callback:mark);
 
   (* User buttons *)
   let hbox = GPack.hbox ~packing:framevb#add () in
 
-  { agl=agl; gauge=gauge ; labels= !strip_labels; buttons_box = hbox}
 
-
+  object
-
+    method set_agl ?color value = set_agl ?color agl value
-(** set a label *)
+    method set_bat ?color value = set_bat ?color gauge value
-let set_label strip name value = 
+    method set_label name value = set_label !strip_labels name value
-  try
+    method set_color name value = set_color !strip_labels name value
-    let _eb, l = List.assoc (name^"_value") strip.labels in
+    method add_widget w = add_widget hbox w
-    if l#text <> value then
+    method connect_shift_alt callback = 
-      l#set_label value
+      ignore (plus5#connect#clicked (fun () -> callback 5.));
-  with
+      ignore (plus30#connect#clicked (fun () -> callback 30.));
-    Not_found ->
+      ignore (minus5#connect#clicked (fun () -> callback (-5.)))
-      Printf.fprintf stderr "Strip.set_label: '%s' unknown\n%!" name
+  end
-
-(** set a color *)
-let set_color strip name color = 
-  let eb, _l = List.assoc (name^"_value") strip.labels in
-  eb#coerce#misc#modify_bg [`NORMAL, `NAME color]
-
-
-let set_gauge = fun ?(color="green") gauge v_min v_max value string ->
-  let {Gtk.width=width; height=height} = gauge#misc#allocation in
-  let dr = GDraw.pixmap ~width ~height ~window:gauge () in
-  dr#set_foreground (`NAME "orange");
-  dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
-  
-  let f = (value -. v_min) /. (v_max -. v_min) in
-  let f = max 0. (min 1. f) in
-  let h = truncate (float height *. f) in
-  dr#set_foreground (`NAME color);
-  dr#rectangle ~x:0 ~y:(height-h) ~width ~height:h ~filled:true ();
-
-  let context = gauge#misc#create_pango_context in
-  let layout = context#create_layout in
-  Pango.Layout.set_text layout string;
-  let (w,h) = Pango.Layout.get_pixel_size layout in
-  dr#put_layout ~x:((width-w)/2) ~y:((height-h)/2) ~fore:`BLACK layout;
-  
-  (new GDraw.drawable gauge#misc#window)#put_pixmap ~x:0 ~y:0 dr#pixmap
-
-
-
-(** set the battery *)
-let set_bat ?color strip value =
-  set_gauge ?color strip.gauge bat_min bat_max value (string_of_float value)
-
-
-(** set the AGL *)
-let set_agl ?color strip value =
-  set_gauge ?color strip.agl 0. agl_max value (Printf.sprintf "%3.0f" value)
-
-
-let add_widget = fun strip widget ->
-  strip.buttons_box#add widget

sw/ground_segment/cockpit/strip.mli

@@ -1,11 +1,19 @@
-type t
+type t =
+    < add_widget : GObj.widget -> unit;
+      connect_shift_alt : (float -> unit) -> unit;
+	set_agl : ?color:string -> float -> unit;
+	set_bat : ?color:string -> float -> unit;
+	  set_color : string -> string -> unit;
+	    set_label : string -> string -> unit >
+
+
+val scrolled : GBin.scrolled_window
+
 val add :
   Pprz.values ->
   string ->
-  (unit -> 'a) -> (unit -> unit) -> (unit -> unit) -> (unit -> unit) -> t
+  (unit -> 'a) -> (unit -> unit) -> (unit -> unit) ->
-val set_label : t -> string -> string -> unit
+    t
-val set_color : t -> string -> string -> unit
+
-val set_bat : ?color:string -> t -> float -> unit
+
-val set_agl : ?color:string -> t -> float -> unit
+
-val scrolled : GBin.scrolled_window
-val add_widget : t -> GObj.widget -> unit

sw/ground_segment/tmtc/aircraft.ml

@@ -105,6 +105,7 @@ type aircraft = {
     mutable gaz_mode : int;
     mutable lateral_mode : int;
     mutable horizontal_mode : int;
+    mutable periodic_callbacks : Glib.Timeout.id list;
     cam : ac_cam;
     mutable gps_mode : int;
     inflight_calib : inflight_calib;

sw/ground_segment/tmtc/aircraft.mli

@@ -92,6 +92,7 @@ type aircraft = {
     mutable gaz_mode : int;
     mutable lateral_mode : int;
     mutable horizontal_mode : int;
+    mutable periodic_callbacks : Glib.Timeout.id list;
     cam : ac_cam;
     mutable gps_mode : int;
     inflight_calib : inflight_calib;

sw/ground_segment/tmtc/server.ml

@@ -575,7 +575,7 @@ let new_aircraft = fun id ->
 	gspeed=0.; course = 0.; alt=0.; climb=0.; cur_block=0; cur_stage=0;
       throttle = 0.; throttle_accu = 0.; rpm = 0.; temp = 0.; bat = 42.; amp = 0.; energy = 0; ap_mode= -1; agl = 0.;
       gaz_mode= -1; lateral_mode= -1;
-      gps_mode =0;
+      gps_mode =0; periodic_callbacks = [];
       desired_altitude = 0.;
       desired_climb = 0.;
       pos = { utm_x = 0.; utm_y = 0.; utm_zone = 0 };
@@ -607,7 +607,11 @@ let wind_clear = fun _sender vs ->
   Wind.clear (Pprz.string_assoc "ac_id" vs)
 
 let periodic = fun period cb ->
-  ignore (Glib.Timeout.add period (fun () -> cb (); true))
+  Glib.Timeout.add period (fun () -> cb (); true)
+
+
+let register_periodic = fun ac x ->
+      ac.periodic_callbacks <- x :: ac.periodic_callbacks
 
 (** add the periodic airprox check for the aircraft (name) on all aircraft     *)
 (**    already known                                                           *)
@@ -635,15 +639,15 @@ let periodic_airprox_check = fun name ->
   
   List.iter 
     (fun ac ->
-      periodic aircraft_alerts_period (fun () -> check_airprox ac)
+      register_periodic thisac (periodic aircraft_alerts_period (fun () -> check_airprox ac))
     ) list_ac
 
 let register_aircraft = fun name a ->
   Hashtbl.add aircrafts name a;
-  periodic aircraft_msg_period (fun () -> send_aircraft_msg name);
+  register_periodic a (periodic aircraft_msg_period (fun () -> send_aircraft_msg name));
-  periodic aircraft_alerts_period (fun () -> check_alerts a);
+  register_periodic a (periodic aircraft_alerts_period (fun () -> check_alerts a));
   periodic_airprox_check name;
-  periodic wind_msg_period (fun () -> send_wind a);
+  register_periodic a (periodic wind_msg_period (fun () -> send_wind a));
   Wind.new_ac name 1000;
   ignore(Ground_Pprz.message_bind "WIND_CLEAR" wind_clear)
 

sw/lib/ocaml/mapWaypoints.ml

@@ -185,7 +185,7 @@ class waypoint = fun (wpts_group:group) (name :string) ?(alt=0.) wgs84 ->
       (* Update AGL on pos or alt change *)
       let callback = fun _ ->
 	try
-	  let wgs84 = LL.of_string (sprintf "WGS84 %s" e_pos#text) in
+	  let wgs84 = wgs84_of_string !selected_georef e_pos#text in
 	  let agl  = float_of_string ea#text -. float (try Srtm.of_wgs84 wgs84 with _ -> 0) in
 	  agl_lab#set_text (sprintf " AGL: %4.0fm" agl)
 	with _ -> ()

sw/tools/gen_flight_plan.ml

@@ -244,7 +244,7 @@ let rec index_stage = fun x ->
     | "heading" | "attitude" | "go" | "stay" | "xyz" | "set" | "circle" ->
 	incr stage;
 	Xml.Element (Xml.tag x, Xml.attribs x@["no", soi !stage], Xml.children x)
-    | "survey" | "survey_rectangle" ->
+    | "survey" | "survey_rectangle" | "eight" ->
 	incr stage; incr stage;
 	Xml.Element (Xml.tag x, Xml.attribs x@["no", soi !stage], Xml.children x)
     | "exception" ->
@@ -398,6 +398,19 @@ let rec print_stage = fun index_of_waypoints sectors x ->
 	end;
 	output_cam_mode x index_of_waypoints;
 	lprintf "return;\n"
+    | "eight" ->
+	stage ();
+	lprintf "nav_eight_init();\n";
+	lprintf "NextStage();\n";
+	left ();
+	stage ();
+	let center = get_index_waypoint (ExtXml.attrib x "center") index_of_waypoints
+	and turn_about = get_index_waypoint (ExtXml.attrib x "turn_around") index_of_waypoints in
+	let r = parsed_attrib  x "radius" in
+	let _vmode = output_vmode x center "" in
+	lprintf "Eight(%s, %s, %s);\n" center turn_about r;
+	output_cam_mode x index_of_waypoints;
+	lprintf "return;\n"
     | "set" ->
 	stage ();
 	let var = ExtXml.attrib  x "var"