[paparazzi-commits] [4251] add air_speed in simulator, in sim_ir.c (temp hack)

[Pascal Brisset]

Revision: 4251
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4251
Author:   hecto
Date:     2009-10-15 06:50:05 +0000 (Thu, 15 Oct 2009)
Log Message:
-----------
 add air_speed in simulator, in sim_ir.c (temp hack)

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/sim/sim_ir.c
    paparazzi3/trunk/sw/simulator/hitl.ml
    paparazzi3/trunk/sw/simulator/sim.ml
    paparazzi3/trunk/sw/simulator/sim.mli
    paparazzi3/trunk/sw/simulator/sitl.ml

Modified: paparazzi3/trunk/sw/airborne/sim/sim_ir.c
===================================================================
--- paparazzi3/trunk/sw/airborne/sim/sim_ir.c   2009-10-15 06:24:07 UTC (rev 
4250)
+++ paparazzi3/trunk/sw/airborne/sim/sim_ir.c   2009-10-15 06:50:05 UTC (rev 
4251)
@@ -11,17 +11,22 @@
 
 #include <caml/mlvalues.h>
 
+float sim_air_speed;
+
 void ir_gain_calib(void) {
 }
 
 value set_ir(value roll __attribute__ ((unused)),
             value front __attribute__ ((unused)),
-             value top __attribute__ ((unused))) {
+             value top __attribute__ ((unused)),
+            value air_speed
+            ) {
 #ifdef INFRARED
   ir_roll = Int_val(roll);
   ir_pitch = Int_val(front);
   ir_top = Int_val(top);
 #endif
+  sim_air_speed = Double_val(air_speed);
   return Val_unit;
 }
 

Modified: paparazzi3/trunk/sw/simulator/hitl.ml
===================================================================
--- paparazzi3/trunk/sw/simulator/hitl.ml       2009-10-15 06:24:07 UTC (rev 
4250)
+++ paparazzi3/trunk/sw/simulator/hitl.ml       2009-10-15 06:50:05 UTC (rev 
4251)
@@ -87,7 +87,7 @@
                                      "GSpeed", scale gps.gspeed 1e2;
                                      "Heading", scale (deg_of_rad gps.course) 
1e5]
        
-  let infrared = fun ir_left ir_front ir_top ->
+  let infrared = fun ir_left ir_front ir_top _air_speed ->
     try
       DatalinkPprz.message_send "hitl" "HITL_INFRARED"
        ["ac_id",Pprz.Int !my_id;

Modified: paparazzi3/trunk/sw/simulator/sim.ml
===================================================================
--- paparazzi3/trunk/sw/simulator/sim.ml        2009-10-15 06:24:07 UTC (rev 
4250)
+++ paparazzi3/trunk/sw/simulator/sim.ml        2009-10-15 06:50:05 UTC (rev 
4251)
@@ -61,8 +61,8 @@
     val commands : pprz_t array -> unit
        (** Called once at init *)
        
-    val infrared : float -> float -> float -> unit
-       (** [infrared ir_left ir_front ir_top] Called on timer *)
+    val infrared : float -> float -> float -> float -> unit
+       (** [infrared ir_left ir_front ir_top air_speed] Called on timer *)
        
     val gps : Gps.state -> unit
        (** [gps state] Called on timer *)
@@ -189,7 +189,7 @@
       let ir_left = sin phi_sensor *. !infrared_contrast
       and ir_front = sin theta_sensor *. !infrared_contrast
       and ir_top = cos phi_sensor *. cos theta_sensor *. !infrared_contrast in
-      Aircraft.infrared ir_left ir_front ir_top
+      Aircraft.infrared ir_left ir_front ir_top (FlightModel.get_air_speed 
!state)
            
     and gps_task = fun () ->
       let (x,y,z) = FlightModel.get_xyz !state in

Modified: paparazzi3/trunk/sw/simulator/sim.mli
===================================================================
--- paparazzi3/trunk/sw/simulator/sim.mli       2009-10-15 06:24:07 UTC (rev 
4250)
+++ paparazzi3/trunk/sw/simulator/sim.mli       2009-10-15 06:50:05 UTC (rev 
4251)
@@ -9,7 +9,7 @@
     val init : int -> GPack.box -> unit
     val boot : Stdlib.value -> unit
     val commands : Stdlib.pprz_t array -> unit
-    val infrared : float -> float -> float -> unit
+    val infrared : float -> float -> float -> float -> unit
     val gps : Gps.state -> unit
   end
 

Modified: paparazzi3/trunk/sw/simulator/sitl.ml
===================================================================
--- paparazzi3/trunk/sw/simulator/sitl.ml       2009-10-15 06:24:07 UTC (rev 
4250)
+++ paparazzi3/trunk/sw/simulator/sitl.ml       2009-10-15 06:50:05 UTC (rev 
4251)
@@ -189,10 +189,10 @@
 (* Functions called by the simulator *)
   let commands = fun s -> rcommands := s
       
-  external set_ir : int -> int -> int -> unit = "set_ir"
-  let infrared = fun ir_left ir_front ir_top ->
+  external set_ir : int -> int -> int -> float -> unit = "set_ir"
+  let infrared = fun ir_left ir_front ir_top air_speed ->
     (** ADC neutral is not taken into account in the soft sim (c.f. sim_ir.c)*)
-    set_ir (truncate ir_left) (truncate ir_front) (truncate ir_top)
+    set_ir (truncate ir_left) (truncate ir_front) (truncate ir_top) air_speed
 
   external use_gps_pos: int -> int -> int -> float -> float -> float -> float 
-> float -> bool -> float -> float -> unit = "sim_use_gps_pos_bytecode" 
"sim_use_gps_pos"
   let gps = fun gps ->