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[traffic_info] rename SetAcInfo to set_ac_info

Browse Source 
to follow naming conventions
And add doxygen comments
This commit is contained in:
Felix Ruess
2016-01-31 15:30:12 +01:00
parent 08cf91e468
commit ca628ae5d4
4 changed files with 80 additions and 59 deletions
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sw/airborne/modules/multi/formation.c
+1 -1
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@@ -145,7 +145,7 @@ int formation_flight(void)
stateGetPositionEnu_f()->y += formation[the_acs_id[AC_ID]].north; stateGetPositionEnu_f()->y += formation[the_acs_id[AC_ID]].north;
} }
// set info for this AC // set info for this AC
SetAcInfo(AC_ID, stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, hspeed_dir, set_ac_info(AC_ID, stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, hspeed_dir,
stateGetPositionUtm_f()->alt, form_speed, stateGetSpeedEnu_f()->z, gps.tow); stateGetPositionUtm_f()->alt, form_speed, stateGetSpeedEnu_f()->z, gps.tow);
// broadcast info // broadcast info
sw/airborne/subsystems/datalink/datalink.c
+18 -18
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@@ -89,19 +89,19 @@ void dl_parse_msg(void)
climb |= 0xFFFFF800; // fix for twos complements climb |= 0xFFFFF800; // fix for twos complements
} }
SetAcInfo(sender_id, set_ac_info(sender_id,
MOfCm(DL_GPS_SMALL_utm_east(dl_buffer)), /*m*/ MOfCm(DL_GPS_SMALL_utm_east(dl_buffer)), /*m*/
MOfCm(DL_GPS_SMALL_utm_north(dl_buffer)), /*m*/ MOfCm(DL_GPS_SMALL_utm_north(dl_buffer)), /*m*/
RadOfDeg(((float)course) / 10.), /*rad(CW)*/ RadOfDeg(((float)course) / 10.), /*rad(CW)*/
MOfCm(DL_GPS_SMALL_alt(dl_buffer)), /*m*/ MOfCm(DL_GPS_SMALL_alt(dl_buffer)), /*m*/
MOfCm(gspeed), /*m/s*/ MOfCm(gspeed), /*m/s*/
MOfCm(climb), /*m/s*/ MOfCm(climb), /*m/s*/
gps_tow_from_sys_ticks(sys_time.nb_tick)); gps_tow_from_sys_ticks(sys_time.nb_tick));
} }
break; break;
case DL_GPS: { case DL_GPS: {
SetAcInfo(sender_id, set_ac_info(sender_id,
MOfCm(DL_GPS_utm_east(dl_buffer)), /*m*/ MOfCm(DL_GPS_utm_east(dl_buffer)), /*m*/
MOfCm(DL_GPS_utm_north(dl_buffer)), /*m*/ MOfCm(DL_GPS_utm_north(dl_buffer)), /*m*/
RadOfDeg(((float)DL_GPS_course(dl_buffer)) / 10.), /*rad(CW)*/ RadOfDeg(((float)DL_GPS_course(dl_buffer)) / 10.), /*rad(CW)*/
@@ -112,14 +112,14 @@ void dl_parse_msg(void)
} }
break; break;
case DL_GPS_LLA: { case DL_GPS_LLA: {
SetAcInfoLLA(sender_id, set_ac_info_lla(sender_id,
DL_GPS_LLA_lat(dl_buffer), /*1e7deg*/ DL_GPS_LLA_lat(dl_buffer), /*1e7deg*/
DL_GPS_LLA_lon(dl_buffer), /*1e7deg*/ DL_GPS_LLA_lon(dl_buffer), /*1e7deg*/
DL_GPS_LLA_alt(dl_buffer), /*mm*/ DL_GPS_LLA_alt(dl_buffer), /*mm*/
DL_GPS_LLA_course(dl_buffer), /*decideg*/ DL_GPS_LLA_course(dl_buffer), /*decideg*/
DL_GPS_LLA_speed(dl_buffer), /*cm/s*/ DL_GPS_LLA_speed(dl_buffer), /*cm/s*/
DL_GPS_LLA_climb(dl_buffer), /*cm/s*/ DL_GPS_LLA_climb(dl_buffer), /*cm/s*/
DL_GPS_LLA_itow(dl_buffer)); /*ms*/ DL_GPS_LLA_itow(dl_buffer)); /*ms*/
} }
break; break;
#endif /* TRAFFIC_INFO */ #endif /* TRAFFIC_INFO */
@@ -250,7 +250,7 @@ void dl_parse_msg(void)
float s = MOfCm(DL_ACINFO_speed(dl_buffer)); float s = MOfCm(DL_ACINFO_speed(dl_buffer));
float cl = MOfCm(DL_ACINFO_climb(dl_buffer)); float cl = MOfCm(DL_ACINFO_climb(dl_buffer));
uint32_t t = DL_ACINFO_itow(dl_buffer); uint32_t t = DL_ACINFO_itow(dl_buffer);
SetAcInfo(id, ux, uy, c, a, s, cl, t); set_ac_info(id, ux, uy, c, a, s, cl, t);
} }
break; break;
#endif #endif
sw/airborne/subsystems/navigation/traffic_info.c
+24 -29
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@@ -50,36 +50,31 @@ struct ac_info_ *get_ac_info(uint8_t _id)
return &the_acs[the_acs_id[_id]]; return &the_acs[the_acs_id[_id]];
} }
// 0 is reserved for ground station (_id=0) void set_ac_info(uint8_t id, float utm_east, float utm_north, float course, float alt,
// 1 is reserved for this AC (_id=AC_ID) float gspeed, float climb, uint32_t itow)
void SetAcInfo(uint8_t _id, float _utm_x /*m*/, float _utm_y /*m*/, float _course/*rad(CW)*/, float _alt/*m*/,
float _gspeed/*m/s*/, float _climb, uint32_t _itow)
{ {
if (acs_idx < NB_ACS) { if (acs_idx < NB_ACS) {
if (_id > 0 && the_acs_id[_id] == 0) { if (id > 0 && the_acs_id[id] == 0) {
the_acs_id[_id] = acs_idx++; the_acs_id[id] = acs_idx++;
the_acs[the_acs_id[_id]].ac_id = _id; the_acs[the_acs_id[id]].ac_id = id;
} }
the_acs[the_acs_id[_id]].east = _utm_x;// - nav_utm_east0; the_acs[the_acs_id[id]].east = utm_east;// - nav_utm_east0;
the_acs[the_acs_id[_id]].north = _utm_y;// - nav_utm_north0; the_acs[the_acs_id[id]].north = utm_north;// - nav_utm_north0;
the_acs[the_acs_id[_id]].course = _course; the_acs[the_acs_id[id]].course = course;
the_acs[the_acs_id[_id]].alt = _alt;// +- NAV_MSL0; the_acs[the_acs_id[id]].alt = alt;// +- NAV_MSL0;
the_acs[the_acs_id[_id]].gspeed = _gspeed; the_acs[the_acs_id[id]].gspeed = gspeed;
the_acs[the_acs_id[_id]].climb = _climb; the_acs[the_acs_id[id]].climb = climb;
the_acs[the_acs_id[_id]].itow = _itow; the_acs[the_acs_id[id]].itow = itow;
} }
} }
// 0 is reserved for ground station (_id=0) void set_ac_info_lla(uint8_t id, int32_t lat, int32_t lon, int32_t alt,
// 1 is reserved for this AC (_id=AC_ID) int16_t course, uint16_t gspeed, int16_t climb, uint32_t itow)
void SetAcInfoLLA(uint8_t _id, int32_t lat/*1e7deg*/, int32_t lon/*1e7deg*/, int32_t alt/*mm*/,
int16_t course/*decideg*/, uint16_t gspeed/*cm/s*/, int16_t climb/*cm/s*/,
uint32_t itow/*ms*/)
{ {
if (acs_idx < NB_ACS) { if (acs_idx < NB_ACS) {
if (_id > 0 && the_acs_id[_id] == 0) { if (id > 0 && the_acs_id[id] == 0) {
the_acs_id[_id] = acs_idx++; the_acs_id[id] = acs_idx++;
the_acs[the_acs_id[_id]].ac_id = _id; the_acs[the_acs_id[id]].ac_id = id;
} }
struct LlaCoor_i lla_i = {.lat = lat, .lon = lon, .alt = alt}; struct LlaCoor_i lla_i = {.lat = lat, .lon = lon, .alt = alt};
@@ -89,12 +84,12 @@ void SetAcInfoLLA(uint8_t _id, int32_t lat/*1e7deg*/, int32_t lon/*1e7deg*/, int
struct UtmCoor_f utm_f; struct UtmCoor_f utm_f;
utm_of_lla_f(&utm_f, &lla_f); utm_of_lla_f(&utm_f, &lla_f);
the_acs[the_acs_id[_id]].east = utm_f.east; the_acs[the_acs_id[id]].east = utm_f.east;
the_acs[the_acs_id[_id]].north = utm_f.north; the_acs[the_acs_id[id]].north = utm_f.north;
the_acs[the_acs_id[_id]].alt = utm_f.alt; the_acs[the_acs_id[id]].alt = utm_f.alt;
the_acs[the_acs_id[_id]].course = RadOfDeg((float)course / 10.); the_acs[the_acs_id[id]].course = RadOfDeg((float)course / 10.);
the_acs[the_acs_id[_id]].gspeed = (float)gspeed * 100; the_acs[the_acs_id[id]].gspeed = (float)gspeed * 100;
the_acs[the_acs_id[_id]].climb = (float)climb * 100; the_acs[the_acs_id[id]].climb = (float)climb * 100;
the_acs[the_acs_id[_id]].itow = itow; the_acs[the_acs_id[id]].itow = itow;
} }
} }
sw/airborne/subsystems/navigation/traffic_info.h
+37 -11
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@@ -36,13 +36,13 @@
struct ac_info_ { struct ac_info_ {
uint8_t ac_id; uint8_t ac_id;
float east; /* m relative to nav_utm_east0 */ float east; ///< m relative to nav_utm_east0
float north; /* m relative to nav_utm_north0 */ float north; ///< m relative to nav_utm_north0
float course; /* rad (CW) */ float course; ///< rad (CW)
float alt; /* m */ float alt; ///< m
float gspeed; /* m/s */ float gspeed; ///< m/s
float climb; /* m/s */ float climb; ///< m/s
uint32_t itow;/* ms */ uint32_t itow;///< ms
}; };
extern uint8_t acs_idx; extern uint8_t acs_idx;
@@ -50,11 +50,37 @@ extern uint8_t the_acs_id[NB_ACS_ID];
extern struct ac_info_ the_acs[NB_ACS]; extern struct ac_info_ the_acs[NB_ACS];
extern void traffic_info_init(void); extern void traffic_info_init(void);
struct ac_info_ *get_ac_info(uint8_t id); extern struct ac_info_ *get_ac_info(uint8_t id);
void SetAcInfo(uint8_t _id, float _utm_x /*m*/, float _utm_y /*m*/, float _course/*rad(CW)*/, float _alt/*m*/, /**
float _gspeed/*m/s*/, float _climb, uint32_t _itow/*ms*/); * Set Aircraft info.
void SetAcInfoLLA(uint8_t _id, int32_t lat/*1e7deg*/, int32_t lon/*1e7deg*/, int32_t alt/*mm*/, * @param[in] id aircraft id, 0 is reserved for GCS, 1 for this aircraft (id=AC_ID)
* @param[in] utm_east UTM east in m relative to nav_utm_east0
* @param[in] utm_north UTM north in m relative to nav_utm_north0
* @param[in] course Course in rad (CW)
* @param[in] alt Altitude in m above MSL
* @param[in] gspeed Ground speed in m/s
* @param[in] climb Climb rate in m/s
* @param[in] itow GPS time of week in ms
*/
extern void set_ac_info(uint8_t id, float utm_east, float utm_north, float course, float alt,
float gspeed, float climb, uint32_t itow);
/**
* Set Aircraft info.
* @param[in] id aircraft id, 0 is reserved for GCS, 1 for this aircraft (id=AC_ID)
* @param[in] lat Latitude in 1e7deg
* @param[in] lon Longitude in 1e7deg
* @param[in] alt Altitude in mm above MSL
* @param[in] course Course in decideg (CW)
* @param[in] gspeed Ground speed in cm/s
* @param[in] climb Climb rate in cm/s
* @param[in] itow GPS time of week in ms
*/
extern void set_ac_info_lla(uint8_t id, int32_t lat, int32_t lon, int32_t alt,
int16_t course, uint16_t gspeed, int16_t climb, uint32_t itow);
void set_ac_info_lla(uint8_t _id, int32_t lat/*1e7deg*/, int32_t lon/*1e7deg*/, int32_t alt/*mm*/,
int16_t course/*decideg*/, uint16_t gspeed/*cm/s*/, int16_t climb/*cm/s*/, int16_t course/*decideg*/, uint16_t gspeed/*cm/s*/, int16_t climb/*cm/s*/,
uint32_t itow/*ms*/); uint32_t itow/*ms*/);