Make GCS radio link indicator configurable (#2131)

conf/airframes/examples/microjet.xml

@@ -94,6 +94,7 @@
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="RC_MAX_RATE" value="70." /> <!-- pass rate in Hz, -->
 
   </section>
 

sw/ground_segment/cockpit/live.ml

@@ -99,6 +99,7 @@ type aircraft = {
   pages : GObj.widget;
   notebook_label : GMisc.label;
   strip : Strip.t;
+  rc_max_rate: float;
   mutable first_pos : bool;
   mutable last_block_name : string;
   mutable in_kill_mode : bool;
@@ -374,6 +375,15 @@ let load_mission = fun ?editable color geomap xml ->
   Map2d.set_georef_if_none geomap (MapFP.georef_of_xml xml);
   new MapFP.flight_plan ~format_attribs:attributes_pretty_printer ?editable ~show_moved:true geomap color Env.flight_plan_dtd xml
 
+let get_rc_max_rate = fun af_xml ->
+  let default_max_rate = 50. in
+  try
+    let gcs_section = ExtXml.child af_xml ~select:(fun x -> Xml.attrib x "name" = "MISC") "section" in
+    let fvalue = fun name default->
+      try ExtXml.float_attrib (ExtXml.child gcs_section ~select:(fun x -> ExtXml.attrib x "name" = name) "define") "value" with _ -> default in
+    (fvalue "RC_MAX_RATE" 50.)
+  with _ -> default_max_rate
+
 let get_bat_levels = fun af_xml ->
   let default_catastrophic_level = 9.
   and default_max_level = 12.5 in
@@ -465,6 +475,7 @@ let create_ac = fun ?(confirm_kill=true) alert (geomap:G.widget) (acs_notebook:G
   (** Get an alternate speech name if available *)
   let speech_name = get_speech_name af_xml name in
 
+
   (* Aicraft menu decorated with a colored box *)
   let image = GBin.event_box ~width:10 ~height:10 () in
   image#coerce#misc#modify_bg [`NORMAL, `NAME color];
@@ -688,6 +699,8 @@ let create_ac = fun ?(confirm_kill=true) alert (geomap:G.widget) (acs_notebook:G
         Some settings_tab
     with _ -> None in
 
+  let rc_max_rate = get_rc_max_rate af_xml in
+
   let wp_HOME =
     let rec loop = function
     [] -> None
@@ -710,6 +723,7 @@ let create_ac = fun ?(confirm_kill=true) alert (geomap:G.widget) (acs_notebook:G
              dl_settings_page = dl_settings_page;
              rc_settings_page = rc_settings_page;
              strip = strip; first_pos = true;
+             rc_max_rate = rc_max_rate;
              last_block_name = ""; alt = 0.; target_alt = 0.;
              in_kill_mode = false; speed = 0.;
              wind_dir = 42.; ground_prox = true;
@@ -882,7 +896,7 @@ let get_wind_msg = fun (geomap:G.widget) _sender vs ->
 let get_fbw_msg = fun alarm _sender vs ->
   let ac = get_ac vs in
   let status = PprzLink.string_assoc "rc_status" vs
-  and rate = (PprzLink.int_assoc "rc_rate" vs) / 5 in
+  and rate = (float_of_int ((PprzLink.int_assoc "rc_rate" vs) * 10) ) /. ac.rc_max_rate in
   (* divide by 5 to have normal values between 0 and 10 *)
   (* RC rate max approx. 50 Hz *)
   ac.strip#set_rc rate status;

sw/ground_segment/cockpit/live.mli

@@ -49,6 +49,7 @@ type aircraft = private {
     pages : GObj.widget;
     notebook_label : GMisc.label;
     strip : Strip.t;
+    rc_max_rate : float;
     mutable first_pos : bool;
     mutable last_block_name : string;
     mutable in_kill_mode : bool;

sw/ground_segment/cockpit/strip.ml

@@ -46,7 +46,7 @@ type t =
   set_climb : float -> unit;
   set_color : string -> string -> unit;
   set_label : string -> string -> unit;
-  set_rc : int -> string -> unit;
+  set_rc : float -> string -> unit;
   connect : (unit -> unit) -> unit;
   hide_buttons : unit -> unit;
   show_buttons : unit -> unit >
@@ -324,7 +324,7 @@ object
   method set_label name value = set_label !strip_labels name value
   method set_color name value = set_color !strip_labels name value
 
-  method set_rc rate status = rc#set (float_of_int rate) status
+  method set_rc rate status = rc#set rate status
 
     (* add a button widget in a vertical box if it belongs to a group (create new group if needed) *)
   method add_widget ?(group="") w =

sw/ground_segment/cockpit/strip.mli

@@ -45,7 +45,7 @@ type t = <
     set_climb : float -> unit;
     set_color : string -> string -> unit;
     set_label : string -> string -> unit;
-    set_rc : int -> string -> unit;
+    set_rc : float -> string -> unit;
     hide_buttons : unit -> unit;
     show_buttons : unit -> unit;
     connect : (unit -> unit) -> unit