ardupilot/Tools/ArduTracker/GCS_Xplane.pde

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2011-09-08 22:31:32 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
///
/// @file GCS_Xplane.pde
/// @brief GCS driver for the X-plane HIL interface.
///
#if GCS_PROTOCOL == GCS_PROTOCOL_XPLANE
void
GCS_XPLANE::send_text(uint8_t severity, const char *str)
{
if(severity >= DEBUG_LEVEL){
Serial.print("MSG: ");
Serial.println(str);
}
}
void
GCS_XPLANE::send_message(uint8_t id, uint32_t param)
{
switch(id) {
case MSG_HEARTBEAT:
print_control_mode();
break;
case MSG_ATTITUDE:
//print_attitude();
break;
case MSG_LOCATION:
//print_position();
break;
case MSG_CPU_LOAD:
//TODO: implement appropriate routine here if applicable
break;
case MSG_COMMAND_LIST:
struct Location cmd = get_wp_with_index(param);
print_waypoint(&cmd, param);
break;
}
}
void
GCS_XPLANE::print_control_mode(void)
{
Serial.print("MSG: ");
Serial.print(flight_mode_strings[control_mode]);
}
void
GCS_XPLANE::print_current_waypoints()
{
Serial.print("MSG: ");
Serial.print("CUR:");
Serial.print("\t");
Serial.print(current_loc.lat,DEC);
Serial.print(",\t");
Serial.print(current_loc.lng,DEC);
Serial.print(",\t");
Serial.println(current_loc.alt,DEC);
Serial.print("MSG: ");
Serial.print("NWP:");
Serial.print(wp_index,DEC);
Serial.print(",\t");
Serial.print(next_WP.lat,DEC);
Serial.print(",\t");
Serial.print(next_WP.lng,DEC);
Serial.print(",\t");
Serial.println(next_WP.alt,DEC);
}
void
GCS_XPLANE::print_waypoint(struct Location *cmd,byte index)
{
Serial.print("MSG: command #: ");
Serial.print(index, DEC);
Serial.print(" id: ");
Serial.print(cmd->id,DEC);
Serial.print(" p1: ");
Serial.print(cmd->p1,DEC);
Serial.print(" p2: ");
Serial.print(cmd->alt,DEC);
Serial.print(" p3: ");
Serial.print(cmd->lat,DEC);
Serial.print(" p4: ");
Serial.println(cmd->lng,DEC);
}
void
GCS_XPLANE::print_waypoints()
{
Serial.println("Commands in memory");
Serial.print("commands total: ");
Serial.println(wp_total, DEC);
// create a location struct to hold the temp Waypoints for printing
//Location tmp;
Serial.println("Home: ");
struct Location cmd = get_wp_with_index(0);
print_waypoint(&cmd, 0);
Serial.println("Commands: ");
for (int i=1; i<wp_total; i++){
cmd = get_wp_with_index(i);
print_waypoint(&cmd, i);
}
}
#endif // GCS_PROTOCOL_XPLANE