Quick and dirty ISaAC test version

paparazzi · Apr 10, 2017 · ff32a30 · ff32a30
1 parent 036c619
commit ff32a30
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Showing 7 changed files with 62 additions and 8 deletions.
diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -51,7 +51,7 @@
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/isaac.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#00009e93ffff"
   />
 </conf>
diff --git a/conf/airframes/AGGIEAIR/aggieair_control_panel.xml b/conf/airframes/AGGIEAIR/aggieair_control_panel.xml
@@ -82,7 +82,9 @@
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
-     <program name="GCS"/>
+     <program name="GCS">
+      <arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
+     </program>
      <program name="Messages"/>
      <program name="Real-time Plotter"/>
    </session>

diff --git a/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
@@ -65,6 +65,7 @@ RP3 Lisa MX
       <configure name="EXTRA_DL_BAUD" value="B921600"/>
     </module>
     <module name="lidar_sf11"/>
+    <module name="rssi"/>
     <module name="battery_monitor.xml">
       <define name="BATMON_REV4" value="1"/>
       <define name="BATMON_CURRENT_OFFSET" value="-120"/>

diff --git a/conf/modules/isaac.xml b/conf/modules/isaac.xml
@@ -18,6 +18,21 @@
     AC_ID check is performed).
     </description>
   </doc>
+
+  <settings>
+    <dl_settings NAME="ISaAC">
+      <dl_settings NAME="Isaac">
+        <dl_setting MAX="1" MIN="0" STEP="1" VAR="send_cam_snapshot" shortname="snapshot"/>
+        <dl_setting MAX="1" MIN="0" STEP="1" VAR="send_cam_payload" shortname="payload"/>
+        <dl_setting MAX="1" MIN="0" STEP="1" VAR="send_copilot_status" shortname="copilot"/>
+        <dl_setting MAX="254" MIN="0" STEP="1" VAR="snapshot_cnt" shortname="snapshot_cnt"/>
+        <dl_setting MAX="254" MIN="0" STEP="1" VAR="status_cnt" shortname="status_cnt"/>
+        <dl_setting MAX="254" MIN="0" STEP="1" VAR="isaac_cnt" shortname="isaac_cnt"/>
+        <dl_setting MAX="254" MIN="0" STEP="1" VAR="move_wp_cnt" shortname="move_wp_cnt"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <depends>extra_dl</depends>
   <header>
     <file name="isaac.h"/>

diff --git a/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml b/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
@@ -6,7 +6,6 @@
       <message name="AUTOPILOT_VERSION"   period="11.1"/>
       <message name="AIRSPEED"            period="1"/>
       <message name="ALIVE"               period="5.1"/>
-      <message name="GPS_INT"             period="0.25"/>
       <message name="GPS_LLA"             period="0.25"/>
       <message name="NAVIGATION"          period="1."/>
       <message name="ATTITUDE"            period="0.1"/>
@@ -26,10 +25,6 @@
       <message name="DL_VALUE"            period="1.5"/>
       <message name="IR_SENSORS"          period="1.2"/>
       <message name="SURVEY"              period="2.1"/>
-      <message name="GPS_SOL"             period="2.0"/>
-      <message name="IMU_ACCEL"           period=".8"/>
-      <message name="IMU_GYRO"            period=".6"/>
-      <message name="IMU_MAG"             period="1.3"/>
       <message name="CAM"                 period="0.5"/>
       <message name="CAM_POINT"           period="1.0"/>
       <message name="COMMANDS"            period="1"/>
@@ -120,7 +115,10 @@
   </process>
   <process name="Extra">
     <mode name="default">
-    <message name="COMMANDS"            period="0.01"/>
+    <!--message name="COMMANDS"            period="0.01"/-->
+      <message name="GPS_LLA"             period="1.25"/>
+      <message name="ATTITUDE"            period="1.1"/>
+      <message name="VECTORNAV_INFO"      period="1.0"/>
     </mode>
   </process>
 </telemetry>
diff --git a/sw/airborne/modules/cartography/isaac.c b/sw/airborne/modules/cartography/isaac.c
@@ -54,6 +54,10 @@ struct CameraPayload cam_payload;
 struct CameraSnapshot cam_snapshot;
 struct CopilotStatus copilot_status;
 
+uint8_t snapshot_cnt;
+uint8_t status_cnt;
+uint8_t isaac_cnt;
+uint8_t move_wp_cnt;
 
 /** Init function */
 void isaac_init(void)
@@ -62,8 +66,15 @@ void isaac_init(void)
   send_cam_payload = false;
   send_copilot_status = false;
 
+  snapshot_cnt = 0;
+  status_cnt = 0;
+  isaac_cnt = 0;
+  move_wp_cnt = 0;
+
+
   memset(&cam_payload, 0, sizeof(cam_payload));
   memset(&cam_snapshot, 0, sizeof(cam_snapshot));
+  memset(&send_copilot_status, 0, sizeof(send_copilot_status));
 }
 
 /** Periodic function */
@@ -83,6 +94,7 @@ void isaac_periodic(void)
     send_cam_snapshot = false;
   }
 
+
   if (send_cam_payload)
   {
     // NOTE: this would send the message over the EXTRA_DL port
@@ -109,6 +121,7 @@ void isaac_periodic(void)
 
     send_copilot_status = false;
   }
+
 }
 
 /** Message processing functions
@@ -131,6 +144,10 @@ void isaac_parse_cam_snapshot_dl(uint8_t *buf)
   cam_snapshot.snapshot_valid = DL_CAMERA_SHOT_snapshot_valid(buf);
   cam_snapshot.lens_temp = DL_CAMERA_SHOT_lens_temp(buf);
   cam_snapshot.array_temp = DL_CAMERA_SHOT_array_temp(buf);
+
+  send_cam_snapshot = true;
+
+  snapshot_cnt++;
 }
 
 void isaac_parse_cam_payload_dl(uint8_t *buf){
@@ -142,6 +159,8 @@ void isaac_parse_cam_payload_dl(uint8_t *buf){
   cam_payload.error_code = DL_CAMERA_PAYL_error_code(buf);
 
   send_cam_payload = true;
+
+  status_cnt++;
 }
 
 void isaac_parse_copilot_status_dl(uint8_t *buf)
@@ -151,7 +170,10 @@ void isaac_parse_copilot_status_dl(uint8_t *buf)
   copilot_status.used_disk = DL_COPILOT_STAT_used_disk(buf);
   copilot_status.status = DL_COPILOT_STAT_status(buf);
   copilot_status.error_code = DL_COPILOT_STAT_error_code(buf);
+
   send_copilot_status = true;
+
+  isaac_cnt++;
 }
 
 /**
@@ -199,6 +221,13 @@ void isaac_parse_move_wp_dl(uint8_t *buf)
       DOWNLINK_SEND_WP_MOVED(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE,
                              &wp_id, &utm.east, &utm.north, &utm.alt, &nav_utm_zone0);
     }
+
+    // only increment wp_payload
+    if (wp_id == 18) {
+      move_wp_cnt++;
+    }
   }
 
+
+
 }
diff --git a/sw/airborne/modules/cartography/isaac.h b/sw/airborne/modules/cartography/isaac.h
@@ -68,6 +68,15 @@ struct CopilotStatus {
   uint8_t error_code;
 };
 
+extern bool send_cam_snapshot;
+extern bool send_cam_payload;
+extern bool send_copilot_status;
+
+extern uint8_t snapshot_cnt;
+extern uint8_t status_cnt;
+extern uint8_t isaac_cnt;
+extern uint8_t move_wp_cnt;
+
 /** Init function */
 void isaac_init(void);