[Gcblue-commits] gcb_wx/scripts AI.py,1.9,1.10

[Dewitt C. <ddc...@us...>]

Update of /cvsroot/gcblue/gcb_wx/scripts
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11624/scripts

Modified Files:
	AI.py 
Log Message:


Index: AI.py
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/scripts/AI.py,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** AI.py	16 Feb 2004 01:06:22 -0000	1.9
--- AI.py	18 Jul 2004 03:18:00 -0000	1.10
***************
*** 155,179 ****
          return 0
  
  def Land(UI,dest_id):
      # 0 - init, 1 - distant, 2 - init approach, 3 - final approach
      land_state = UI.GetVar(0)
      track_info = UI.GetTrackById(dest_id)
      if (track_info.ID == -1):
          UI.DisplayMessage('Invalid landing platform')
          UI.CompletedOrder()
          return # invalid id
      # adjust track location based on approach state
      if (land_state <= 1):
          if (land_state == 0):
              UI.DisplayMessage('Landing on platform %d' % track_info.ID) 
!         UI.SetAlt(1200)
          UI.SetVar(0,1)
!         track_info.Offset(8, track_info.Heading_rad + 3.1416)  # approach from rear for now
      elif (land_state == 2):       
!         track_info.Offset(5, track_info.Heading_rad + 3.1416)
!         UI.SetAlt(400)
          UI.SetPitchLimit(15)
      elif (land_state == 3):
!         UI.SetAlt(18)
          UI.SetPitchLimit(10)
          SetFractionalSpeed(UI,0.6)
--- 155,194 ----
          return 0
  
+ # modified this to adjust altitude based on altitude of landing
+ # site
  def Land(UI,dest_id):
      # 0 - init, 1 - distant, 2 - init approach, 3 - final approach
      land_state = UI.GetVar(0)
      track_info = UI.GetTrackById(dest_id)
+ 
+     alt_m = track_info.Alt
      if (track_info.ID == -1):
+         UI.DisplayMessage('Bad track ID for landing')
+         UI.CompletedOrder()
+         return # invalid id
+ 
+     landing_data = UI.GetLandingData(dest_id)
+     if (landing_data.ID == -1):
          UI.DisplayMessage('Invalid landing platform')
          UI.CompletedOrder()
          return # invalid id
+ 
+     track_info.Lat = landing_data.Lat
+     track_info.Lon = landing_data.Lon
+     track_info.Alt = landing_data.Alt
+ 
      # adjust track location based on approach state
      if (land_state <= 1):
          if (land_state == 0):
              UI.DisplayMessage('Landing on platform %d' % track_info.ID) 
!         UI.SetAlt(1200 + alt_m)
          UI.SetVar(0,1)
!         track_info.Offset(8, landing_data.Heading_rad + 3.1416)  # approach from rear for now
      elif (land_state == 2):       
!         track_info.Offset(5, landing_data.Heading_rad + 3.1416)
!         UI.SetAlt(400 + alt_m)
          UI.SetPitchLimit(15)
      elif (land_state == 3):
!         UI.SetAlt(18 + alt_m)
          UI.SetPitchLimit(10)
          SetFractionalSpeed(UI,0.6)