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heading attribute added

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Pascal Brisset
2009-04-13 16:04:25 +00:00
parent 276b61eb83
commit ea7e208c6f
3 changed files with 7 additions and 5 deletions
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sw/ground_segment/tmtc/aircraft.ml
+3 -2
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@@ -82,6 +82,7 @@ type aircraft = {
mutable itow : int32; (* ms *)
mutable roll : float;
mutable pitch : float;
mutable heading : float; (* rad, CW 0=N *)
mutable nav_ref : Latlong.utm option;
mutable desired_east : float;
mutable desired_north : float;
@@ -89,7 +90,7 @@ type aircraft = {
mutable desired_course : float;
mutable desired_climb : float;
mutable gspeed : float; (* m/s *)
mutable course : float; (* rad *)
mutable course : float; (* rad *)
mutable alt : float;
mutable agl : float;
mutable climb : float;
@@ -133,7 +134,7 @@ let new_aircraft = fun id name fp airframe ->
let svsinfo_init = Array.init gps_nb_channels (fun _ -> svinfo_init ()) in
{ id = id ; name = name; roll = 0.; pitch = 0.; desired_east = 0.; desired_north = 0.; flight_plan = fp; airframe = airframe; dist_to_wp = 0.;
desired_course = 0.;
gspeed=0.; course = 0.; alt=0.; climb=0.; cur_block=0; cur_stage=0;
gspeed=0.; course = 0.; heading = 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_Pacc = 0; periodic_callbacks = [];
sw/ground_segment/tmtc/aircraft.mli
+1
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@@ -68,6 +68,7 @@ type aircraft = {
mutable itow : int32;
mutable roll : float;
mutable pitch : float;
mutable heading : float; (* rad *)
mutable nav_ref : Latlong.utm option;
mutable desired_east : float;
mutable desired_north : float;
sw/ground_segment/tmtc/fw_server.ml
+3 -3
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@@ -105,7 +105,6 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
utm_zone = ivalue "utm_zone" };
a.unix_time <- LL.unix_time_of_tow (truncate (fvalue "itow" /. 1000.));
a.itow <- Int32.of_float (fvalue "itow");
(*Printf.fprintf stderr "itow %lu %ld\n" a.itow a.itow;*)
a.gspeed <- fvalue "speed" /. 100.;
a.course <- norm_course ((Deg>>Rad)(fvalue "course" /. 10.));
a.agl <- a.alt -. float (try Srtm.of_utm a.pos with _ -> 0);
@@ -127,8 +126,9 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
| "NAVIGATION_REF" ->
a.nav_ref <- Some { utm_x = fvalue "utm_east"; utm_y = fvalue "utm_north"; utm_zone = ivalue "utm_zone" }
| "ATTITUDE" ->
a.roll <- (Deg>>Rad) (fvalue "phi");
a.pitch <- (Deg>>Rad) (fvalue "theta")
a.heading <- norm_course (fvalue "psi");
a.roll <- fvalue "phi";
a.pitch <- fvalue "theta"
| "NAVIGATION" ->
a.cur_block <- ivalue "cur_block";
a.cur_stage <- ivalue "cur_stage";