mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Pascal Brisset
114 lines
2.9 KiB
OCaml
114 lines
2.9 KiB
OCaml
(*
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* $Id$
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*
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* Copyright (C) ENAC
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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type ac_cam = {
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mutable phi : float; (* Rad, right = >0 *)
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mutable theta : float; (* Rad, front = >0 *)
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}
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type inflight_calib = {
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mutable if_mode : int; (* DOWN|OFF|UP *)
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mutable if_val1 : float;
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mutable if_val2 : float
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}
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type contrast_status = string (** DEFAULT|WAITING|SET *)
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type infrared = {
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mutable gps_hybrid_mode : int;
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mutable gps_hybrid_factor : float;
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mutable contrast_status : contrast_status;
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mutable contrast_value : int
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}
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type rc_status = string (** OK, LOST, REALLY_LOST *)
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type rc_mode = string (** MANUAL, AUTO, FAILSAFE *)
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type fbw = {
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mutable rc_status : rc_status;
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mutable rc_mode : rc_mode;
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}
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let gps_nb_channels = 16
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type svinfo = {
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svid : int;
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flags : int;
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qi : int;
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cno : int;
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elev : int;
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azim : int
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}
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let svinfo_init = {
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svid = 0 ;
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flags = 0;
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qi = 0;
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cno = 0;
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elev = 0;
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azim = 0;
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}
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type horiz_mode =
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Circle of Latlong.utm * int
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| Segment of Latlong.utm * Latlong.utm
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| UnknownHorizMode
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type aircraft = {
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id : string;
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mutable pos : Latlong.utm;
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mutable roll : float;
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mutable pitch : float;
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mutable nav_ref : Latlong.utm;
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mutable desired_east : float;
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mutable desired_north : float;
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mutable desired_altitude : float;
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mutable desired_course : float;
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mutable desired_climb : float;
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mutable gspeed : float;
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mutable course : float;
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mutable alt : float;
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mutable climb : float;
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mutable cur_block : int;
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mutable cur_stage : int;
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mutable throttle : float;
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mutable throttle_accu : float;
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mutable rpm : float;
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mutable temp : float;
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mutable bat : float;
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mutable amp : float;
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mutable energy : int;
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mutable ap_mode : int;
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mutable gaz_mode : int;
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mutable lateral_mode : int;
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mutable horizontal_mode : int;
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cam : ac_cam;
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mutable gps_mode : int;
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inflight_calib : inflight_calib;
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infrared : infrared;
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fbw : fbw;
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svinfo : svinfo array;
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mutable flight_time : int;
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mutable stage_time : int;
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mutable block_time : int;
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mutable horiz_mode : horiz_mode
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}
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