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change wind handling: ask with the current position (sending a WORLD_ENV_REQ message)

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Pascal Brisset
2009-12-22 16:12:17 +00:00
parent 0350817c61
commit f28c2a4323
1 changed files with 22 additions and 4 deletions
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sw/simulator/sim.ml
+22 -4
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@@ -150,7 +150,8 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
let _run = ref false in
let wind_x = ref 0.
and wind_y = ref 0. in
and wind_y = ref 0.
and wind_z = ref 0. in
let infrared_contrast = ref 266.
and time_scale = object val mutable v = 1. method value = v method set_value x = v <- x end
and gps_availability = ref 1 in
@@ -159,11 +160,28 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
gps_availability := Pprz.int_assoc "gps_availability" vs;
wind_x := Pprz.float_assoc "wind_east" vs;
wind_y := Pprz.float_assoc "wind_north" vs;
wind_z := Pprz.float_assoc "wind_up" vs;
infrared_contrast := Pprz.float_assoc "ir_contrast" vs;
time_scale#set_value (Pprz.float_assoc "time_scale" vs)
in
ignore (Ground_Pprz.message_bind "WORLD_ENV" world_update);
let ask_for_world_env = fun () ->
try
let (x, y, z) = FlightModel.get_xyz !state in
let gps_sol = compute_gps_state (x,y,z) (FlightModel.get_time !state) in
let float = fun f -> Pprz.Float f in
let values = ["east", float x; "north", float y; "up", float z;
"lat", float ((Rad>>Deg)gps_sol.Gps.wgs84.posn_lat);
"long", float ((Rad>>Deg)gps_sol.Gps.wgs84.posn_long);
"alt", float gps_sol.Gps.alt ] in
Ground_Pprz.message_req "sim" "WORLD_ENV" values world_update
with
exc -> fprintf stderr "Error in sim: %s\n%!" (Printexc.to_string exc)
in
ignore (GMain.Timeout.add 1000 (fun () -> ask_for_world_env (); true));
let fm_task = fun () ->
@@ -178,7 +196,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
_ -> s.Gps.alt
end
| None -> 0. in
FM.state_update !state FM.nominal_airspeed (!wind_x, !wind_y) agl fm_period
FM.state_update !state FM.nominal_airspeed (!wind_x, !wind_y, !wind_z) agl fm_period
and ir_task = fun () ->
let phi, theta, _ = FlightModel.get_attitude !state in
@@ -280,7 +298,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
t#misc#set_sensitive false in
ignore (t#connect#clicked ~callback);
(* Monitor an AUTO2 lauch to disable the button *)
(* Monitor an AUTO2 launch to disable the button *)
let monitor = fun () ->
if FlightModel.get_air_speed !state > 0. then begin
t#misc#set_sensitive false;