add a new message comming from the generic_com module and parsed by the

server
paparazzi · Jun 2, 2011 · 3cdebeb · 3cdebeb
1 parent ee8d663
commit 3cdebeb
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Showing 6 changed files with 761 additions and 462 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -528,11 +528,19 @@
     <field name="cte_int" type="float"/>
   </message>
 
-  <message name="ESTIMATOR_COMP_FILTER" id="81">
-    <field name="gyro_hp_last_out" type="float"/>
-    <field name="gyro_int" type="float"/>
-    <field name="gps_lp_last_out" type="float"/>
-    <field name="ir_lp_last_out" type="float"/>
+  <message name="GENERIC_COM" id="81">
+    <field name="lat" type="int32" unit="1e7deg"/>
+    <field name="lon" type="int32" unit="1e7deg"/>
+    <field name="alt" type="int16" unit="m"/>
+    <field name="gspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
+    <field name="course" type="int16" unit="decideg" alt_unit="deg"/>
+    <field name="airspeed" type="uint16" unit="cm/s" alt_unit="m/s"/>
+    <field name="vsupply" type="uint8" unit="decivolt"/>
+    <field name="energy" type="uint8" unit="deciAh"/>
+    <field name="throttle" type="uint8" unit="%"/>
+    <field name="ap_mode" type="uint8"/>
+    <field name="nav_block" type="uint8"/>
+    <field name="flight_time" type="uint16" unit="s"/>
   </message>
 
   <message name="FORMATION_SLOT_TM" id="82">

diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c
@@ -76,8 +76,8 @@ void generic_com_periodic( void ) {
   FillBufWith16bit(com_trans.buf, 11, gps_gspeed); // ground speed
   FillBufWith16bit(com_trans.buf, 13, gps_course); // course
   FillBufWith16bit(com_trans.buf, 15, (uint16_t)(estimator_airspeed*100)); // TAS (cm/s)
-  com_trans.buf[17] = electrical.vsupply;
-  com_trans.buf[18] = (uint8_t)(energy*10);
+  com_trans.buf[17] = electrical.vsupply; // decivolts
+  com_trans.buf[18] = (uint8_t)(energy/100); // deciAh
   com_trans.buf[19] = (uint8_t)(ap_state->commands[COMMAND_THROTTLE]*100/MAX_PPRZ);
   com_trans.buf[20] = pprz_mode;
   com_trans.buf[21] = nav_block;

diff --git a/sw/ground_segment/tmtc/fw_server.ml b/sw/ground_segment/tmtc/fw_server.ml
@@ -276,6 +276,26 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
       and alt = ivalue "alt" in
       let geo = make_geo_deg (float lat /. 1e7) (float lon /. 1e7) in
 	    update_waypoint a (ivalue "wp_id") geo (float alt /. 100.)
+  | "GENERIC_COM" ->
+      let flight_time = ivalue "flight_time" in
+      if flight_time >= a.flight_time then begin
+        a.flight_time <- flight_time;
+        let lat = fvalue "lat"
+        and lon = fvalue "lon" in
+        let geo = make_geo_deg (lat /. 1e7) (lon /. 1e7) in
+        a.pos <- geo;
+        a.alt <- fvalue "alt";
+        a.gspeed  <- fvalue "gspeed" /. 100.;
+        a.course  <- norm_course ((Deg>>Rad)(fvalue "course" /. 10.));
+        if !heading_from_course then
+          a.heading <- a.course;
+        a.agl <- a.alt -. float (try Srtm.of_wgs84 a.pos with _ -> 0);
+        a.bat <- fvalue "vsupply" /. 10.;
+        a.energy <- ivalue "energy" * 100;
+        a.throttle <- fvalue "throttle";
+        a.ap_mode <- check_index (ivalue "ap_mode") fixedwing_ap_modes "AP_MODE";
+        a.cur_block <- ivalue "nav_block";
+      end
   | "FORMATION_SLOT_TM" ->
       Dl_Pprz.message_send "ground_dl" "FORMATION_SLOT" values
   | "FORMATION_STATUS_TM" ->

diff --git a/sw/in_progress/satcom/Makefile b/sw/in_progress/satcom/Makefile
@@ -6,6 +6,8 @@ udp2tcp: udp2tcp.c
 	gcc -g -O2 -Wall -o $@ $^
 tcp2ivy: tcp2ivy.c
 	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy -lm
+tcp2ivy_generic: tcp2ivy_generic.c
+	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -I../../../var/${AIRCRAFT} -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy -lm
 
 clean:
 	rm email2udp udp2tcp tcp2ivy