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Minor updates
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@lebarsfa
lebarsfa committed Nov 30, 2023
1 parent 2559cbc commit f179ac4
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Showing 3 changed files with 26 additions and 11 deletions.
6 changes: 6 additions & 0 deletions Config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1340,6 +1340,12 @@ inline int LoadConfig(void)
robid = SUBMARINE_SIMULATOR_ROBID;
break;
}
#ifdef DISABLE_OPENCV_SUPPORT
if (nbopencvgui > 0)
{
printf("Warning : nbopencvgui parameter is not 0 while the program is built without OpenCV support, please check DISABLE_OPENCV_SUPPORT and related CMake options if the GUI is needed.\n");
}
#endif // DISABLE_OPENCV_SUPPORT
#ifndef FORCE_SINGLE_THREAD_OPENCVGUI
if ((nbopencvgui < 0)||(nbopencvgui > MAX_NB_OPENCVGUI))
{
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10 changes: 5 additions & 5 deletions MAVLinkInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1632,19 +1632,19 @@ REQ_DATA_STREAM...
case GNSS_ACC_LEVEL_GNSS_FIX_HIGH:
case GNSS_ACC_LEVEL_RTK_UNREL:
gps_raw_int.fix_type = GPS_FIX_TYPE_3D_FIX;
gps_raw_int.satellites_visible = GPS_med_acc_nbsat;
gps_raw_int.satellites_visible = (uint8_t)GPS_med_acc_nbsat;
break;
case GNSS_ACC_LEVEL_RTK_FLOAT:
gps_raw_int.fix_type = GPS_FIX_TYPE_RTK_FLOAT;
gps_raw_int.satellites_visible = GPS_high_acc_nbsat;
gps_raw_int.satellites_visible = (uint8_t)GPS_high_acc_nbsat;
break;
case GNSS_ACC_LEVEL_RTK_FIXED:
gps_raw_int.fix_type = GPS_FIX_TYPE_RTK_FIXED;
gps_raw_int.satellites_visible = GPS_high_acc_nbsat;
gps_raw_int.satellites_visible = (uint8_t)GPS_high_acc_nbsat;
break;
default:
gps_raw_int.fix_type = GPS_FIX_TYPE_2D_FIX;
gps_raw_int.satellites_visible = GPS_low_acc_nbsat;
gps_raw_int.satellites_visible = (uint8_t)GPS_low_acc_nbsat;
break;
}
gps_raw_int.vel = (uint16_t)(sog*100);
Expand Down Expand Up @@ -1777,7 +1777,7 @@ REQ_DATA_STREAM...
global_position_int.hdg = (uint16_t)(fmod_360_pos_rad2deg(-angle_env-psi_sim+M_PI/2.0)*100.0);

gps_raw_int.fix_type = GPS_FIX_TYPE_RTK_FIXED;
gps_raw_int.satellites_visible = GPS_high_acc_nbsat;
gps_raw_int.satellites_visible = (uint8_t)GPS_high_acc_nbsat;

gps_raw_int.lat = (int32_t)(lat_sim*10000000.0);
gps_raw_int.lon = (int32_t)(long_sim*10000000.0);
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21 changes: 15 additions & 6 deletions TODO.txt
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Original file line number Diff line number Diff line change
@@ -1,20 +1,27 @@
mavlinkinterface
devrait envoyer RC_CHANNELS (entr�es commandes) en m�me temps que SERVO_OUTPUT_RAW...
mavlinkinterface
gps_raw_int.satellites_visible should be set more correctly...
mavlinkinterface devrait envoyer RC_CHANNELS (entr�es commandes) en m�me temps que SERVO_OUTPUT_RAW...
mavlinkinterface gps_raw_int.satellites_visible should be set more correctly...
mavlinkinterface_GPS_prefix: GP, GN, GL, GA
mavlinkinterface_GPS_mode: 0 for raw GPS data, 1 for emulated, 2 for sim (to check for sim vs emulated)
d,alpha sonar, wall � envoyer via mavlink?

Mention corresponding samples for each command in mission_spec.txt
Peut-�tre changer en-t�te de logsimu pour que les noms correspondent mieux aux vars, e.g. enlever les hat si c'est pas une estim, voir si �a pose probl�me pour les outils de conversion de log...

Ping1d, ping360interface

UxVCtrl simu echosounder? option to only use the altitude part of DVL data? Make a specific mission? Si on fait que des r�gulations en cap le DVL ne sera pas utilis� en fait... filtre sur donn�es d'altitude, voir comme pour ultrasons...
Pouvoir appliquer ces filtres sur un peu tout type de donn�es...
Param cmp aussi pour waitz...
regeq add timeout param to continuously check the condition and return if it is true or the timeout elapses?
simulateddvl bEnable...->add params x y zmin zmax r mode to simulate altitude in a circle, after x or y limit/theta-r limit...?

SBG latest SDK: sbgInterfaceDestroy() changes, hardware matlab cmakelists.txt to update...
Remove ciscrea, lirmia3, libmodbus to simplify?
enable more robid, simulators (riptide)...
robid: do not modify much, instead add other params to modify the behavior of existing...->add robid_modifier parameter, which rules to set it...?->no specific rules, just here to help for quick changes, the best would be to add more meaningful parameters where possible...
add spartan m1 simulator compatible with ros node
Logguer ubx-rawx?

robid: do not modify much, instead add other params to modify the behavior of existing...

Mavlink, rplidar pas d�tect� auto par uxvctrl? Il dit aussi que pas sbg_tcp? � cause de programfilesx86 vs pas x86 (rajouter une option dans cmake force prgm86 ou force prgm?)?

Wgs2local, waypoints2gpx � faire marcher pour grands fichiers
Expand Down Expand Up @@ -527,6 +534,8 @@ surfaceobstacleavoidance needs to be debugged (corrupted memory...)...
Maestro bloqu�e si on ne r�cup�re pas en continu les donn�es envoy�es par la Razor sur son port s�rie!

build and install
add possibility to use codac to the build system...
cmake test build and run (but GUI support) opencv simple prog to d�tect� and enable auto opencv...?
les t�l�chargements faits dans ${PROJECT_SOURCE_DIR} devraient plut�t �tre dans le dossier de build...
Utilit� de VC Linux?
Tuto vectornav, gps_input UxVCtrl...
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