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last (?) commit before MAV05

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This commit is contained in:
Pascal Brisset
2005-09-17 10:16:49 +00:00
parent e3fb8a4e00
commit f9f69e0c6f
8 changed files with 37 additions and 22 deletions
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conf/airframes/ladybug.xml
+1 -1
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@@ -22,7 +22,7 @@
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-5" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
conf/airframes/plaster1.xml
+4 -4
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@@ -87,8 +87,8 @@
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="50" unit="m"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="THETA0" value="45" unit="deg"/>
<define name="PHI0" value="-45" unit="deg"/>
</section>
</airframe>
conf/airframes/twinstar1.xml
+4
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@@ -79,4 +79,8 @@
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="50" unit="m"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="THETA0" value="45" unit="deg"/>
<define name="PHI0" value="-45" unit="deg"/>
</section>
</airframe>
conf/conf.xml
+7 -7
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@@ -14,7 +14,7 @@
ac_id="1"
airframe="airframes/twinstar1.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/mav05.xml"
flight_plan="flight_plans/muret_cw.xml"
/>
<aircraft
@@ -22,7 +22,7 @@
ac_id="2"
airframe="airframes/twinstar2.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_cam.xml"
flight_plan="flight_plans/muret_ccw.xml"
/>
<aircraft
@@ -37,8 +37,8 @@
name="Plaster1"
ac_id="4"
airframe="airframes/plaster1.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_mini.xml"
radio="radios/cockpitMM.xml"
flight_plan="flight_plans/muret_cw.xml"
/>
<aircraft
@@ -70,7 +70,7 @@
name="Ladybug"
ac_id="8"
airframe="airframes/ladybug.xml"
radio="radios/mc3030.xml"
radio="radios/cockpitMM.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
@@ -78,8 +78,8 @@
name="FlyingTux"
ac_id="9"
airframe="airframes/flyingtux.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_mini.xml"
radio="radios/cockpitMM.xml"
flight_plan="flight_plans/muret_ccw.xml"
/>
<ground name="desktop" ivy_bus="127.255.255.255:2010">
conf/flight_plans/muret_mini.xml
+2 -6
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@@ -4,15 +4,11 @@
<rc_control>
<mode NAME="AUTO1">
<setting VAR="ir_pitch_neutral" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_2_up" TYPE="float"/>
<setting VAR="pitch_pgain" RANGE="-1000." RC="gain_1_down" TYPE="int16"/>
<setting VAR="roll_pgain" RANGE="-1000." RC="gain_2_down" TYPE="int16"/>
<setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_1_down" TYPE="float"/>
</mode>
<mode NAME="AUTO2">
<setting VAR="ir_pitch_neutral" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_2_up" TYPE="float"/>
<setting VAR="aileron_of_gaz" RANGE="0.1" RC="gain_1_down" TYPE="float"/>
<setting VAR="pitch_of_vz" RANGE=".1" RC="gain_2_down" TYPE="float"/>
<setting VAR="pitch_of_vz" RANGE=".1" RC="gain_1_up" TYPE="float"/>
</mode>
</rc_control>
<waypoints utm_x0="360284.8" utm_y0="4813595.5">
sw/airborne/autopilot/cam.c
+12 -1
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@@ -42,7 +42,18 @@
#define target_alt GROUND_ALT
float phi_c, theta_c;
#ifdef CAM_PHI0
float phi_c = RadOfDeg(CAM_PHI0);
#else
float phi_c;
#endif
#ifdef CAM_THETA0
float theta_c = RadOfDeg(CAM_THETA0);
#else
float theta_c;
#endif
float target_x, target_y;
void cam_manual( void ) {
sw/lib/ocaml/mapTrack.ml
+1 -1
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@@ -47,7 +47,7 @@ let fixed_cam_targeted_yw = 500.0
(** variables used for handling cam moves: *)
let cam_half_aperture = m_pi /. 4.0
let cam_half_aperture = m_pi /. 6.0
let half_pi = m_pi /. 2.0
let sqrt_2_div_2 = sqrt 2.0
sw/tools/fp_proc.ml
+6 -2
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@@ -84,7 +84,6 @@ let subst_expression = fun env e ->
let transform_expression = fun affine env e ->
let e = parse_expression e in
let e' = rotate_expression affine.angle e in
let e'' = subst_expression env e' in
Fp_syntax.sprint_expression e''
@@ -93,10 +92,15 @@ let transform_expression = fun affine env e ->
let transform_values = fun attribs_not_modified affine env attribs ->
List.map
(fun (a, v) ->
let e = parse_expression v in
let e' =
if String.lowercase a = "course"
then CallOperator("+", [e; Float affine.angle])
else e in
let v' =
if List.mem (String.lowercase a) attribs_not_modified
then v
else transform_expression affine env v in
else transform_expression affine env e' in
(a, v'))
attribs