*** empty log message ***

conf/airframes/antenna.xml

@@ -1,5 +1,15 @@
 <airframe name="ANTENNA">
 
+
+<!--
+ <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+-->
+ <section name="DATALINK" prefix="DATALINK_">
+  </section>
+
   <makefile>
 
 ARCHI=avr
@@ -36,6 +46,7 @@ ant.srcs += avr/ant_tracker.c
 
 ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
 ant.srcs += datalink.c
+ant.srcs += traffic_info.c
 
 #ant.CFLAGS += 
 ant.srcs += avr/ant_v2x.c avr/ant_spi.c

sw/airborne/avr/ant_tracker.c

@@ -10,11 +10,23 @@ int32_t nav_utm_east0;
 int32_t nav_utm_north0;
 uint8_t nav_utm_zone0;
 
+void ant_tracker_init( void ) {
+  //  nav_utm_east0 = ;
+  //  nav_utm_north0 = ;
+  //  nav_utm_zone0 = ;
+  ant_track_id = 12;
+  ant_track_mode = ANT_TRACK_AUTO;
+  ant_track_azim = 0.;
+  ant_track_elev = 0.;
+}
 
-void ant_tracker_update( void ) {
+void ant_tracker_periodic( void ) {
   if (ant_track_mode == ANT_TRACK_AUTO) {
     ant_track_azim += 0.5;
     if (ant_track_azim > 360.)
       ant_track_azim = 0.;
+    ant_track_elev += 0.1;
+    if (ant_track_elev > 90.)
+      ant_track_elev = 0.;
   }
 }

sw/airborne/avr/ant_tracker.h

@@ -18,12 +18,12 @@ extern uint8_t ant_track_id;
   {			       \
     ant_track_mode = i;	       \
     if(ant_track_mode)	       \
-      LED_ON(1);	       \
+      LED_ON(2);	       \
     else		       \
-      LED_OFF(1);	       \
+      LED_OFF(2);	       \
   }
 
 
-extern void ant_tracker_update( void );
-
+extern void ant_tracker_init( void );
+extern void ant_tracker_periodic( void );
 #endif /* ANT_TRACKER_H */

sw/airborne/main_antenna.c

@@ -21,12 +21,13 @@
 static inline void main_init( void );
 static inline void main_periodic_task( void );
 static inline void main_event_task( void);
+static inline void main_dl_parse_msg( void );
 
 uint8_t track_mode;
 
 int main( void ) {
   main_init();
-  LED_ON(1);
+  LED_OFF(1);
   LED_OFF(2);
   while (1) {
     if (sys_time_periodic())
@@ -43,6 +44,7 @@ static inline void main_init( void ) {
   uart1_init_tx();
   uart1_init_rx();
   adc_init();
+  ant_tracker_init();
   int_enable();
 }
 
@@ -59,7 +61,6 @@ static inline void main_event_task( void ) {
   }
 
   if (PprzBuffer()) {
-    LED_TOGGLE(1);
     ReadPprzBuffer();
     if (pprz_msg_received) {
       pprz_parse_payload();
@@ -67,23 +68,54 @@ static inline void main_event_task( void ) {
     }
   }
   if (dl_msg_available) {
-    dl_parse_msg();
+    main_dl_parse_msg();
     dl_msg_available = FALSE;
   }
-
 }
 
 static inline void main_periodic_task( void ) {
   static uint8_t cnt;
   cnt++;
   if (!(cnt%16)) {
-    LED_TOGGLE(2);
+    //    LED_TOGGLE(2);
     DOWNLINK_SEND_ANTENNA_STATUS(&ant_track_azim, &ant_track_elev, &ant_track_id, &ant_track_mode);
   }
   if (!(cnt%4)) {
-    ant_tracker_update();
+    ant_tracker_periodic();
   }
 }
 
+#include "settings.h"
+#include "traffic_info.h"
+#define NAV_UTM_EAST0 360285
+#define NAV_UTM_NORTH0 4813595
+#define NAV_UTM_ZONE0 31
 
+#define IdOfMsg(x) (x[1])
+#define MOfCm(_x) (((float)_x)/100.)
 
+static inline void main_dl_parse_msg(void) {
+  uint8_t msg_id = IdOfMsg(dl_buffer);
+  if (msg_id == DL_SETTING) {
+    uint8_t i = DL_SETTING_index(dl_buffer);
+    float var = DL_SETTING_value(dl_buffer);
+    DlSetting(i, var);
+    DOWNLINK_SEND_DL_VALUE(&i, &var);
+  }  
+  else if (msg_id == DL_ACINFO) {
+    LED_TOGGLE(1);
+    uint8_t id = DL_ACINFO_ac_id(dl_buffer);
+    float ux = MOfCm(DL_ACINFO_utm_east(dl_buffer));
+    float uy = MOfCm(DL_ACINFO_utm_north(dl_buffer));
+    float a = MOfCm(DL_ACINFO_alt(dl_buffer));
+    float c = RadOfDeg(((float)DL_ACINFO_course(dl_buffer))/ 10.);
+    float s = MOfCm(DL_ACINFO_speed(dl_buffer));
+    SetAcInfo(id, ux, uy, c, a, s);
+  }
+ else if (msg_id == DL_WIND_INFO) {
+
+ }
+ else {
+   //    LED_TOGGLE(1);
+  }
+}

sw/airborne/traffic_info.h

@@ -29,7 +29,7 @@
 #ifndef TI_H
 #define TI_H
 
-#define NB_ACS 8
+#define NB_ACS 24
 
 struct ac_info_ {
   float east; /* m */