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Re: [Paparazzi-devel] antenna track code

From: afishindouban
Subject: Re: [Paparazzi-devel] antenna track code
Date: Mon, 21 Oct 2013 09:50:38 -0500

Thank you so much Felix.
I think I want to modified this track anntena.
1. to ant_azim 360 degree, and ant_elev from -90 to +90 degree. to cover all around, in many case home pos can be on a high land, and UAV goes lower than that altitude.
2. we need involve a _tracker_home waypoint, current calculation for azim and elev are calculate by home posistion, and use ground alt, but antenna position could be different to the home, also can be a higher tower, moveable.
Do you think it is useful ?

Date: 2013-10-21 06:07
Subject: Re: [Paparazzi-devel] antenna track code
Hi Kevin,

the field with index 5 in the NAVIGATION message is "dist2_home", this is the distance to the home waypoint squared.
So the same as sqr(waypoints[WP_HOME].x - gps_pos_x) + sqr(waypoints[WP_HOME].y - gps_pos_y))

Cheers, Felix

On Mon, Oct 21, 2013 at 7:17 AM, afishindouban <address@hidden> wrote:
Dear All
I am fresh to read into the code and make some test, in antenna track code, I get some confuse.
In this function, on_NAV_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]), calculate ant_elev.
ant_elev = atan2( (gps_alt-home_alt), sqrt(atof(argv[5])) ) * 180. / M_PI;
what is Argv[5]? sqrt(atof(argv[5])) = distance from launch point to the nav point ? it should equal to sqrt(sqr(gps_pos_x) + sqr (gps_pos_y)), am I right ?
by the trace of the message, I think I am wrong. someone can give me some tips ?
Thank you so much.

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