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neutral for ir useless in soft simulator

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This commit is contained in:
Pascal Brisset
2005-08-11 14:09:13 +00:00
parent 96d5a69b38
commit d52a85ef34
2 changed files with 28 additions and 23 deletions
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sw/simulator/hitl.ml
+26
View File
@@ -47,6 +47,30 @@ module Make(A:Data.MISSION) = struct
let boot = fun () -> () let boot = fun () -> ()
let irs =
try
ExtXml.child A.ac.Data.airframe
~select:(fun x -> try Xml.attrib x "prefix" = "IR_" with Xml.No_attribute _ -> false)
"section"
with Not_found ->
failwith "Do not find an IR section in airframe description"
let ir_roll_neutral =
try
float_of_string (ExtXml.attrib (ExtXml.child irs ~select:(fun x -> try Xml.attrib x "name" = "ROLL_NEUTRAL_DEFAULT" with Xml.No_attribute _ -> false) "define") "value")
with
Not_found ->
failwith "Do not find an ROLL_NEUTRAL_DEFAULT define in IR description"
let ir_pitch_neutral =
try
float_of_string (ExtXml.attrib (ExtXml.child irs ~select:(fun x -> try Xml.attrib x "name" = "PITCH_NEUTRAL_DEFAULT" with Xml.No_attribute _ -> false) "define") "value")
with
Not_found ->
failwith "Do not find an PITCH_NEUTRAL_DEFAULT define in IR description"
let scale = fun value s -> truncate (value *. s) let scale = fun value s -> truncate (value *. s)
@@ -70,6 +94,8 @@ module Make(A:Data.MISSION) = struct
let infrared = fun ir_left ir_front -> let infrared = fun ir_left ir_front ->
let uart = Unix.out_channel_of_descr !uart_mcu0 in let uart = Unix.out_channel_of_descr !uart_mcu0 in
let ir_left = ir_left + ir_roll_neutral
and ir_front = ir_front + ir_pitch_neutral in
Ubx.send uart Ubx.usr_irsim Ubx.send uart Ubx.usr_irsim
["ROLL", ir_left; ["ROLL", ir_left;
"PITCH", ir_front] "PITCH", ir_front]
sw/simulator/sim.ml
+2 -23
View File
@@ -123,27 +123,6 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
let infrared_contrast_adj = GData.adjustment ~value:500. ~lower:(0.) ~upper:1010. ~step_incr:10. () in let infrared_contrast_adj = GData.adjustment ~value:500. ~lower:(0.) ~upper:1010. ~step_incr:10. () in
let irs =
try
ExtXml.child A.ac.Data.airframe
~select:(fun x -> try Xml.attrib x "prefix" = "IR_" with Xml.No_attribute _ -> false)
"section"
with Not_found ->
failwith "Do not find an IR section in airframe description" in
let ir_roll_neutral =
try
float_of_string (ExtXml.attrib (ExtXml.child irs ~select:(fun x -> try Xml.attrib x "name" = "ROLL_NEUTRAL_DEFAULT" with Xml.No_attribute _ -> false) "define") "value")
with
Not_found ->
failwith "Do not find an ROLL_NEUTRAL_DEFAULT define in IR description" in
let ir_pitch_neutral =
try
float_of_string (ExtXml.attrib (ExtXml.child irs ~select:(fun x -> try Xml.attrib x "name" = "PITCH_NEUTRAL_DEFAULT" with Xml.No_attribute _ -> false) "define") "value")
with
Not_found ->
failwith "Do not find an PITCH_NEUTRAL_DEFAULT define in IR description" in
let run = ref false in let run = ref false in
@@ -162,8 +141,8 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
end; end;
if !t mod ir_period = 0 then begin if !t mod ir_period = 0 then begin
let phi = FlightModel.get_phi !state in let phi = FlightModel.get_phi !state in
let ir_left = (phi *. infrared_contrast_adj#value +. ir_roll_neutral) let ir_left = (phi *. infrared_contrast_adj#value)
and ir_front = ir_pitch_neutral in and ir_front = 0. in
Aircraft.infrared ir_left ir_front Aircraft.infrared ir_left ir_front
end; end;