Merge remote branch 'paparazzi/master' into target

sw/airborne/arch/sim/mcu_periph/i2c_arch.c

@@ -2,5 +2,5 @@
 
 void i2c_hw_init ( void ) {}
 
-bool_t i2c_idle(struct i2c_periph *p) { return TRUE; }
+bool_t i2c_idle(struct i2c_periph *p __attribute__ ((unused))) { return TRUE; }
 bool_t i2c_submit(struct i2c_periph* p __attribute__ ((unused)), struct i2c_transaction* t __attribute__ ((unused))) { return TRUE;}

sw/airborne/boards/tiny_sim.h

@@ -2,20 +2,20 @@
 #define CONFIG_TINY_H
 
 /* Master oscillator freq.       */
-#define FOSC (12000000) 
+#define FOSC (12000000)
 
 /* PLL multiplier                */
-#define PLL_MUL (5)         
+#define PLL_MUL (5)
 
 /* CPU clock freq.               */
-#define CCLK (FOSC * PLL_MUL) 
+#define CCLK (FOSC * PLL_MUL)
 
 /* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2   */
-#define PBSD_BITS 0x00    
+#define PBSD_BITS 0x00
 #define PBSD_VAL 4
 
 /* Peripheral bus clock freq. */
-#define PCLK (CCLK / PBSD_VAL) 
+#define PCLK (CCLK / PBSD_VAL)
 
 #define LED_1_BANK 1
 #define LED_1_PIN 28
@@ -80,7 +80,14 @@
 #define USE_AD0_1
 #endif
 
-/* #define ADC_3 AdcBank1(7) Used for VSUPPLY */
+#define ADC_3 AdcBank0(6)
+#ifdef USE_ADC_3
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_6
+#endif
+
 
 #define ADC_4 AdcBank1(3)
 #ifdef USE_ADC_4
@@ -114,6 +121,7 @@
 #define USE_AD1_2
 #endif
 
+/* #define ADC_3 AdcBank1(7) Used for VSUPPLY */
 #define ADC_CHANNEL_VSUPPLY AdcBank1(7)
 #ifndef USE_AD1
 #define USE_AD1

sw/ground_segment/cockpit/live.ml

@@ -1158,11 +1158,11 @@ let listen_flight_params = fun geomap auto_center_new_ac alert alt_graph ->
       let label = Pprz.string_assoc "ap_mode" vs in
       ac.strip#set_label "AP" (if label="MANUAL" then "MANU" else label);
       let color = 
-	match ap_mode with
-	  "AUTO2" -> ok_color
-	| "AUTO1" -> "#10F0E0"
-	| "MANUAL" -> warning_color
-	| _ -> alert_color in
+        match ap_mode with
+          "AUTO2" | "NAV" -> ok_color
+        | "AUTO1" | "R_RCC" | "A_RCC" | "ATT_C" | "R_ZH" | "A_ZH" | "HOVER" | "HOV_C" | "H_ZH" -> "#10F0E0"
+        | "MANUAL" | "RATE" | "ATT" -> warning_color
+        | _ -> alert_color in
       ac.strip#set_color "AP" color;
     end;
     let gps_mode = Pprz.string_assoc "gps_mode" vs in

sw/ground_segment/tmtc/Makefile

@@ -48,7 +48,7 @@ OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring)
 INCLUDES= -I $(OCAMLLIB) -I ../multimon $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES)
 LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
 
-SERVERCMO = server_globals.cmo aircraft.cmo wind.cmo airprox.cmo kml.cmo fw_server.ml booz_server.ml server.cmo
+SERVERCMO = server_globals.cmo aircraft.cmo wind.cmo airprox.cmo kml.cmo fw_server.ml rotorcraft_server.ml server.cmo
 SERVERCMX = $(SERVERCMO:.cmo=.cmx)
 
 $(VAR)/boa.conf :$(CONF)/boa.conf
@@ -112,10 +112,6 @@ diadec : diadec.cmo ../multimon/multimon.cma
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $^
 
 
-booz_translator : booz_translator.cmo ../../lib/ocaml/lib-pprz.cma
-	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma booz_translator.cmo
-
 150m : 150m.cmo
 	@echo OL $@
 	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $^

sw/ground_segment/tmtc/aircraft.ml

@@ -70,6 +70,11 @@ type nav_ref =
   | Utm of Latlong.utm
   | Ltp of Latlong.ecef
 
+type vehicle_type =
+    FixedWing
+  | Rotorcraft
+  | UnknownVehicleType
+
 let add_pos_to_nav_ref = fun nav_ref  ?(z = 0.) (x, y) ->
   let rec lat_of_xy = fun lat last geo (_x, _y) n e ->
     if n > 0 && abs_float (lat -. last) > e then
@@ -92,6 +97,7 @@ let add_pos_to_nav_ref = fun nav_ref  ?(z = 0.) (x, y) ->
 type waypoint = { altitude : float; wp_geo : Latlong.geographic }
 
 type aircraft = { 
+    mutable vehicle_type : vehicle_type;
     id : string;
     name : string;
     flight_plan : Xml.xml;
@@ -150,7 +156,7 @@ let max_nb_dl_setting_values = 256 (** indexed iwth an uint8 (messages.xml)  *)
 
 let new_aircraft = fun id name fp airframe ->
   let svsinfo_init = Array.init gps_nb_channels (fun _ -> svinfo_init ()) in
-  { id = id ; name = name; flight_plan = fp; airframe = airframe;
+  { vehicle_type = UnknownVehicleType; id = id; name = name; flight_plan = fp; airframe = airframe;
     pos = { Latlong.posn_lat = 0.; posn_long = 0. };
     unix_time = 0.; itow = Int32.of_int 0;
     roll = 0.; pitch = 0.;

sw/ground_segment/tmtc/aircraft.mli

@@ -54,11 +54,17 @@ type nav_ref =
   | Utm of Latlong.utm
   | Ltp of Latlong.ecef
 
+type vehicle_type =
+    FixedWing
+  | Rotorcraft
+  | UnknownVehicleType
+
 val add_pos_to_nav_ref : nav_ref -> ?z:float -> (float * float) -> Latlong.geographic
 
 type waypoint = { altitude : float; wp_geo : Latlong.geographic }
 
 type aircraft = {
+    mutable vehicle_type : vehicle_type;
     id : string;
     name : string;
     flight_plan : Xml.xml;

sw/ground_segment/tmtc/fw_server.ml

@@ -187,7 +187,8 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
       a.bat <- fvalue "vsupply" /. 10.;
       a.fbw.rc_rate <- ivalue "frame_rate"
   | "PPRZ_MODE" ->
-      a.ap_mode <- check_index (ivalue "ap_mode") ap_modes "AP_MODE";
+      a.vehicle_type <- FixedWing;
+      a.ap_mode <- check_index (ivalue "ap_mode") fixedwing_ap_modes "AP_MODE";
       a.gaz_mode <- check_index (ivalue "ap_gaz") gaz_modes "AP_GAZ";
       a.lateral_mode <- check_index (ivalue "ap_lateral") lat_modes "AP_LAT";
       a.horizontal_mode <- check_index (ivalue "ap_horizontal") horiz_modes "AP_HORIZ";

sw/ground_segment/tmtc/kml.ml

@@ -259,10 +259,15 @@ let update_ac = fun ac ->
       else
         sprintf "http://%s:%d/var/%s/flight_plan.kml" !hostname !port ac.name
     in
+    let ap_mode = match ac.vehicle_type with
+        Rotorcraft -> rotorcraft_ap_modes.(ac.ap_mode)
+      | FixedWing -> fixedwing_ap_modes.(ac.ap_mode)
+      | UnknownVehicleType -> "UNK"
+    in
     let blocks = ExtXml.child ac.flight_plan "blocks" in
     let block = ExtXml.child blocks (string_of_int ac.cur_block) in
     let block_name = ExtXml.attrib block "name" in
-    let description = sprintf "<b><font color=\"green\">%s</font></b>: %s\nBat: <b><font color=\"red\">%.1fV</font></b>\nAGL: %.0fm\nSpeed: %.1fm/s" ap_modes.(ac.ap_mode) block_name ac.bat ac.agl ac.gspeed in
+    let description = sprintf "<b><font color=\"green\">%s</font></b>: %s\nBat: <b><font color=\"red\">%.1fV</font></b>\nAGL: %.0fm\nSpeed: %.1fm/s" ap_mode block_name ac.bat ac.agl ac.gspeed in
     let change = change_placemark ~description ac.name ac.pos ac.alt in
     let kml_changes = link_update url_flight_plan [change] in
     print_xml ac.name "ac_changes.kml" kml_changes

sw/ground_segment/tmtc/booz_server.ml → sw/ground_segment/tmtc/rotorcraft_server.ml

@@ -1,7 +1,5 @@
 (*
- * $Id: fw_server.ml,v 1.1 2009/03/22 17:53:48 hecto Exp $
- *
- * Server part specific to booz vehicles
+ * Server part specific to rotorcraft vehicles
  *
  * Copyright (C) ENAC
  *
@@ -97,12 +95,13 @@ let update_waypoint = fun ac wp_id p alt ->
     Not_found ->
       Hashtbl.add ac.waypoints wp_id new_wp
 
-let get_pprz_mode = fun ap_mode ->
+(*let get_pprz_mode = fun ap_mode ->
   let mode = ref 0 in
   if ap_mode = 0 || ap_mode = 1 || ap_mode = 2 || ap_mode = 4 || ap_mode = 7 then mode := 0 (* MANUAL *)
   else if ap_mode = 3 || ap_mode = 5 || ap_mode = 6 || ap_mode = 8 then mode := 1 (* AUTO1 *)
   else if ap_mode = 9 || ap_mode = 10 || ap_mode = 11 || ap_mode = 12 then mode := 2; (* AUTO2 *)
   !mode
+*)
 
 let get_rc_status = fun rc_status ->
   let status = ref "" in
@@ -178,13 +177,14 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
       (*a.unix_time <- LL.unix_time_of_tow (truncate (fvalue "itow" /. 1000.));
       a.itow <- Int32.of_float (fvalue "itow");*)
       a.flight_time   <- ivalue "flight_time";
-      if a.gspeed > 3. && a.ap_mode = _AUTO2 then
-          Wind.update ac_name a.gspeed a.course
+      (*if a.gspeed > 3. && a.ap_mode = _AUTO2 then
+          Wind.update ac_name a.gspeed a.course*)
   | "ROTORCRAFT_STATUS" ->
+      a.vehicle_type  <- Rotorcraft;
       a.fbw.rc_status <- get_rc_status (ivalue "rc_status");
       a.fbw.rc_rate   <- ivalue "frame_rate";
       a.gps_mode      <- check_index (ivalue "gps_status") gps_modes "GPS_MODE";
-      a.ap_mode       <- check_index (get_pprz_mode (ivalue "ap_mode")) ap_modes "BOOZ_AP_MODE";
+      a.ap_mode       <- check_index (ivalue "ap_mode") rotorcraft_ap_modes "ROTORCRAFT_AP_MODE";
       a.kill_mode     <- ivalue "ap_motors_on" == 0;
       a.bat           <- fvalue "vsupply" /. 10.;
   | "INS_REF" ->

sw/ground_segment/tmtc/booz_server.mli → sw/ground_segment/tmtc/rotorcraft_server.mli

@@ -1,7 +1,5 @@
 (*
- * $Id: fw_server.mli,v 1.1 2009/03/22 17:53:48 hecto Exp $
- *
- * Server part specific to booz vehicles
+ * Server part specific to rotorcraft vehicles
  *  
  * Copyright (C) ENAC
  *

sw/ground_segment/tmtc/server.ml

@@ -52,6 +52,12 @@ let srtm_path = Env.paparazzi_home // "data" // "srtm"
 let get_indexed_value = fun t i ->
   if i >= 0 then t.(i) else "UNK"  
 
+let modes_of_type = fun vt ->
+  match vt with
+    FixedWing -> fixedwing_ap_modes
+  | Rotorcraft -> rotorcraft_ap_modes
+  | UnknownVehicleType -> [| |]
+
 (** The aircrafts store *)
 let aircrafts = Hashtbl.create 3
 
@@ -135,7 +141,7 @@ let ac_msg = fun messages_xml logging ac_name ac ->
       let msg = Tele_Pprz.message_of_id msg_id in
       log ?timestamp logging ac_name msg.Pprz.name values;
       Fw_server.log_and_parse ac_name ac msg values;
-      Booz_server.log_and_parse ac_name ac msg values
+      Rotorcraft_server.log_and_parse ac_name ac msg values
     with
       Telemetry_error (ac_name, msg) ->
 	Ground_Pprz.message_send my_id "TELEMETRY_ERROR" ["ac_id", Pprz.String ac_name;"message", Pprz.String msg];
@@ -355,7 +361,7 @@ let send_aircraft_msg = fun ac ->
 		  "energy", Pprz.Int a.energy] in
     Ground_Pprz.message_send my_id "ENGINE_STATUS" values;
 
-    let ap_mode = get_indexed_value ap_modes a.ap_mode in
+    let ap_mode = get_indexed_value (modes_of_type a.vehicle_type) a.ap_mode in
     let gaz_mode = get_indexed_value gaz_modes a.gaz_mode in
     let lat_mode = get_indexed_value lat_modes a.lateral_mode in
     let horiz_mode = get_indexed_value horiz_modes a.horizontal_mode in

sw/ground_segment/tmtc/server_globals.ml

@@ -3,7 +3,8 @@ exception Telemetry_error of string * string
 let hostname = ref "localhost"
 
 (** FIXME: Should be read from messages.xml *)
-let ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"NOGPS"|]
+let fixedwing_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"NOGPS"|]
+let rotorcraft_ap_modes = [|"SAFE";"KILL";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV"|]
 let _AUTO2 = 2
 let gaz_modes = [|"MANUAL";"GAZ";"CLIMB";"ALT"|]
 let lat_modes = [|"MANUAL";"ROLL_RATE";"ROLL";"COURSE"|]