Hello all,
I have set up a flight plan with a single waypoint. I am trying to
move the waypoint like so using ivyprobe:
ground WAYPOINT_MOVED 2 2 40 -88 50
(decimal points omitted from lat/long coordinates)
I have the simulator open, and two consoles. One console is running
`ivyprobe ground WAYPOINT_MOVED(.*)`. This screen is constantly being
flooded by moving waypoints, even though I am not manually moving them
around in GCS. In the second console, I run ivyprobe and type the
command shown above. The first ivyprobe window catches this command,
but completely discards it and continues flooding the screen with
WAYPOINT_MOVED messages.
Any idea what I'm doing wrong?
Thanks,
Aniket
On Mon, Jul 28, 2008 at 12:50 PM, Gautier Hattenberger
<address@hidden
<mailto:address@hidden>> wrote:
Great!
Moreover, we now have a Double Beer award in the Airframe
Configurator un-official contest, open to all OCaml coders ;)
GH
2008/7/28 Mitchel Humpherys <address@hidden
<mailto:address@hidden>>
You're exactly right and it works perfectly! Thanks for the
help. And hey, at least by trying to do it the wrong way I
was able to learn some ocaml and some more about the pprz code ;)
--mitchel
On Thu, Jul 24, 2008 at 2:08 AM, Gautier Hattenberger
<address@hidden
<mailto:address@hidden>> wrote:
Hi,
You can't move the WP this way. You just change the
display in the GCS and after a few seconds the WP are
updated by the real positions send by the AC (which are
not changed). Pascal will correct me if I'm wrong: the
best way to solve your problem is to connect a new agent
to the Ivy bus and send a message MOVE_WAYPOINT of the
class GROUND (look in messages.xml) --> It will be catch
by the server, then it will be logged and send to the AC
with a MOVE_WP automatically (server.ml:840
<http://server.ml:840>). The display in the GCS will be
updated when the AC acknowledge the new position. And
that's it !
Good luck
Gautier
Mitchel Humpherys a écrit :
Funny, I'm actually working on that exact same thing
this week...My plan is to have an external opencv
program which updates an xml file with some gps
coordinates (though I've toyed with the idea of doing
it through a database which could open up a lot of
possibilities). In the meantime paparazzi will read
this file (or connect to this database) and move a
waypoint around accordingly. I've been digging into
the ocaml code and so far I've written a module named
automove_wp.ml <http://automove_wp.ml>
<http://automove_wp.ml> (which, btw, you must add to
the Makefile to get it to work) with the following
(very sad) ocaml code:
open Live
open Latlong
(** this function moves a waypoint *)
(** *)
let automove_waypoint = fun () ->
let ac = "1" in (* Eventually you won't be forced
to act on aircraft 1 *)
let a = find_ac ac in
let (num, first_waypoint) = a.fp_group#index
(List.nth a.fp_group#waypoints 1) in (* Eventually you
won't be forced to act on the second waypoint added *)
let selected_georef = ref WGS84_dec in
first_waypoint#set (geographic_of_coordinates
!selected_georef "41.822227 -111.987482"); (*
Eventually this won't be hard coded in, probably read
from an xml file which will be updated periodically by
an external program *)
first_waypoint#moved;
commit_changes "1"
I've just been testing it by adding an item to the
gcs's right-click popup menu by modifying line 286 of
gcs.ml <http://gcs.ml> <http://gcs.ml> as follows:
GToolbox.popup_menu ~entries:([`I ("Load Google
tile", display_gm); `I ("Automove waypoint",
Automove_wp.automove_waypoint)address@hidden)
But eventually I will just have this function run
every few seconds or something.
Anyways, when the function gets run the waypoint
actually moves to the hard-coded-in gps coords but
then it jumps right back after about 1/2 second...I'm
not exactly sure why this happens but I'm assuming
there's more to do in order to "really" commit the change.
I don't know if this helps or not (it probably just
hurts because this ocaml is so broken :) I'm just
learning it this week).
--Mitchel Humpherys
On Wed, Jul 23, 2008 at 9:56 AM, Aniket Aranake
<address@hidden
<mailto:address@hidden>
<mailto:address@hidden
<mailto:address@hidden>>> wrote:
Hello Group,
I would like to manipulate some software to drive
the paparazzi
ground station. Specifically, I am interested in
using one program
to move waypoints in GCS. I don't know very much
about ocaml. Can
anyone recommend the best way to do this? I was
considering using
sockets, but I'm not sure if that's the most
appropriate way to go.
Any help will be greatly appreciated. Thanks,
Aniket
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