Re: [Paparazzi-devel] antenna track code

[afishindouban]



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 ?

 

---

kevin

 

From: Felix Ruess

Date: 2013-10-21 06:07

To: afishindouban; Paparazzi devel list

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.

 

Kevin.

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