Re: [Paparazzi-devel] control of ground station

[Gautier Hattenberger]

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). 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> (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> 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>> 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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