From 12a271d4b205bd85c00c102d6fee8ebe82865b7a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 12 Dec 2011 21:01:32 +1100
Subject: [PATCH] autotest: nicer display in FG quadcopter view

---
 .../aircraft/arducopter/arducopter-set.xml    | 19 ++++-----
 Tools/autotest/aircraft/arducopter/quad.nas   | 40 +++++++++++++++++++
 2 files changed, 50 insertions(+), 9 deletions(-)
 create mode 100644 Tools/autotest/aircraft/arducopter/quad.nas

diff --git a/Tools/autotest/aircraft/arducopter/arducopter-set.xml b/Tools/autotest/aircraft/arducopter/arducopter-set.xml
index 4cd25150f5..fe8541b9ed 100644
--- a/Tools/autotest/aircraft/arducopter/arducopter-set.xml
+++ b/Tools/autotest/aircraft/arducopter/arducopter-set.xml
@@ -71,20 +71,21 @@ Arducotper UAV Model
   </payload>
   <nasal>
     <arducopter>
+      <file>Aircraft/arducopter/quad.nas</file>
       <script>
          setlistener("/sim/signals/fdm-initialized", func {
              var left  = screen.display.new(20, 10);
-             left.add("/engines/engine[0]/rpm");
-             left.add("/engines/engine[1]/rpm");
-             left.add("/engines/engine[2]/rpm");
-             left.add("/engines/engine[3]/rpm");
+             left.add("/apm/motor_right");
+             left.add("/apm/motor_left");
+             left.add("/apm/motor_front");
+             left.add("/apm/motor_back");
 
              var right = screen.display.new(-250, 20);
-             right.add("/position/altitude-agl-ft");
-             right.add("/orientation/roll-deg");
-             right.add("/orientation/pitch-deg");
-             right.add("/orientation/heading-deg");
-             right.add("/instrumentation/gps/indicated-ground-speed-kt");
+             right.add("/apm/altitude");
+             right.add("/apm/roll");
+             right.add("/apm/pitch");
+             right.add("/apm/heading");
+             right.add("/apm/airspeed");
          });
         </script>
     </arducopter>
diff --git a/Tools/autotest/aircraft/arducopter/quad.nas b/Tools/autotest/aircraft/arducopter/quad.nas
new file mode 100644
index 0000000000..bf9f601ed5
--- /dev/null
+++ b/Tools/autotest/aircraft/arducopter/quad.nas
@@ -0,0 +1,40 @@
+round10 = func(v) {
+	if (v == nil) return 0;
+	return 0.1*int(v*10);
+}
+
+round100 = func(v) {
+	if (v == nil) return 0;
+	return 0.01*int(v*100);
+}
+
+var update_quad = func( ) {
+    asl_ft = getprop("/position/altitude-ft");
+    ground = getprop("/position/ground-elev-ft");
+    agl_m = (asl_ft - ground) * 0.3048;
+
+    setprop("/apm/altitude", round10(agl_m));
+
+    setprop("/apm/pitch",   round10(getprop("/orientation/pitch-deg")));
+    setprop("/apm/roll",    round10(getprop("/orientation/roll-deg")));
+    setprop("/apm/heading", round10(getprop("/orientation/heading-deg")));
+
+    # airspeed-kt is actually in feet per second (FDM NET bug)
+    setprop("/apm/airspeed", round10(0.3048*getprop("/velocities/airspeed-kt")));
+
+    setprop("/apm/motor_left",   round10(getprop("/engines/engine[0]/rpm")/10.0));
+    setprop("/apm/motor_right",  round10(getprop("/engines/engine[1]/rpm")/10.0));
+    setprop("/apm/motor_front",  round10(getprop("/engines/engine[2]/rpm")/10.0));
+    setprop("/apm/motor_back",   round10(getprop("/engines/engine[3]/rpm")/10.0));
+}
+
+var main_loop = func {
+    update_quad();
+    settimer(main_loop, 0);
+}
+
+
+setlistener("/sim/signals/fdm-initialized",
+	    func {
+		main_loop();
+	    });