static uint8_t model_save_xml (char *name, float x, float y, int8_t button, float data, uint8_t action) {
reset_buttons();
FILE *fr;
char tmp_str[128];
sprintf(tmp_str, "mkdir -p %s/models", get_datadirectory());
system(tmp_str);
sprintf(tmp_str, "%s/models/%s", get_datadirectory(), name);
fr = fopen(tmp_str, "wb");
if (fr != 0) {
fprintf(fr, "<rcflow>\n");
fprintf(fr, " <name>%s</name>\n", ModelData[ModelActive].name);
fprintf(fr, " <image>%s</image>\n", ModelData[ModelActive].image);
fprintf(fr, " <type>%s</type>\n", dronetypes[ModelData[ModelActive].dronetype]);
fprintf(fr, " <telemetry>\n");
fprintf(fr, " <type>%s</type>\n", teletypes[ModelData[ModelActive].teletype]);
fprintf(fr, " <device>%s</device>\n", ModelData[ModelActive].telemetry_port);
fprintf(fr, " <baud>%i</baud>\n", ModelData[ModelActive].telemetry_baud);
if (strstr(ModelData[ModelActive].telemetry_port, "rfcomm") > 0) {
fprintf(fr, " <bluetooth_addr>%s</bluetooth_addr>\n", ModelData[ModelActive].telebtaddr);
fprintf(fr, " <bluetooth_pin>%s</bluetooth_pin>\n", ModelData[ModelActive].telebtpin);
}
fprintf(fr, " </telemetry>\n");
mavlink_xml_save(ModelActive, fr);
mwi21_xml_save(ModelActive, fr);
openpilot_xml_save(fr);
fprintf(fr, "</rcflow>\n");
fclose(fr);
}
return 0;
}
static uint8_t model_load (char *name, float x, float y, int8_t button, float data, uint8_t action) {
reset_buttons();
char tmp_str[128];
sprintf(tmp_str, "%s/models", get_datadirectory());
filesystem_set_dir(tmp_str);
filesystem_set_callback(model_load_xml);
filesystem_reset_filter();
filesystem_add_filter(".xml\0");
filesystem_set_mode(setup.view_mode);
return 0;
}
void mavlink_param_xml_meta_load (void) {
char filename[1024];
sprintf(filename, "%s/mavlink/ParameterMetaData-%s.xml", get_datadirectory(), teletypes[ModelData.teletype]);
if (file_exists(filename) != 0) {
mavlink_parseDoc(filename);
return;
}
sprintf(filename, "%s/mavlink/ParameterMetaData-%s.xml", BASE_DIR, teletypes[ModelData.teletype]);
if (file_exists(filename) != 0) {
mavlink_parseDoc(filename);
return;
}
}
int16_t get_altitude (float lat, float lon) {
char file[100];
int8_t n = 0;
int8_t alt_num = -1;
int8_t old_num = -1;
uint32_t atime_min = time(0);
int16_t px = 0;
int16_t py = 0;
int16_t lat_m = (int)lat;
int16_t lon_m = (int)lon;
int8_t flag = 0;
char LON[128];
char LAT[128];
if (lat_m < 0) {
sprintf(LAT, "S%02i", lat_m * -1 + 1);
} else {
sprintf(LAT, "N%02i", lat_m);
}
if (lon_m < 0) {
sprintf(LON, "W%03i", lon_m * -1 + 1);
} else {
sprintf(LON, "E%03i", lon_m);
}
sprintf(file, "%s/MAPS/%s%s.hgt", get_datadirectory(), LAT, LON);
for (n = 0; n < 8; n++) {
if (strcmp(AltCache[n].name, file) == 0) {
alt_num = n;
} else if (AltCache[n].atime < atime_min) {
old_num = n;
atime_min = AltCache[n].atime;
}
}
if (alt_num == -1) {
for (n = 0; n < MAX_ALTCACHE; n++) {
if (AltCache[n].name[0] == 0) {
alt_num = n;
break;
}
}
if (old_num == -1) {
old_num = 0;
}
if (alt_num == -1) {
alt_num = old_num;
SDL_Log("remove srtm %s from cache %i (%i)\n", AltCache[alt_num].name, old_num, AltCache[alt_num].atime);
// Delete;
AltCache[alt_num].name[0] = 0;
}
if (alt_num != -1) {
// SDL_Log("loading srtm %s in to alt-cache %i %i\n", file, alt_num, AltCache[alt_num].atime);
FILE *fr;
fr = fopen(file, "rb");
if (fr != 0) {
strncpy(AltCache[alt_num].name, file, 1023);
AltCache[alt_num].atime = time(0);
for (py = 0; py < 1201; py++) {
for (px = 0; px < 1201; px++) {
uint8_t val1 = 0;
uint8_t val2 = 0;
int16_t val = 0;
fread(&val1, 1, 1, fr);
fread(&val2, 1, 1, fr);
val = (val1<<8) + val2;
if (lat_m < 0) {
if (lon_m < 0) {
AltCache[alt_num].data[py][1200 - px] = val;
} else {
AltCache[alt_num].data[py][px] = val;
}
} else {
if (lon_m < 0) {
AltCache[alt_num].data[1200 - py][1200 - px] = val;
} else {
AltCache[alt_num].data[1200 - py][px] = val;
}
}
}
}
fclose(fr);
} else {
flag = 1;
}
}
}
if (flag == 0) {
AltCache[alt_num].atime = time(0);
// SDL_Log("# using Alt-Cache: %s\n", AltCache[alt_num].name);
// geting all field-points
float fy = 0.0;
float fx = 0.0;
int16_t y1 = 0;
int16_t x1 = 0;
int16_t y2 = 0;
int16_t x2 = 0;
if (lat_m < 0) {
lat_m *= -1;
lat *= -1.0;
}
if (lon_m < 0) {
lon_m *= -1;
lon *= -1.0;
}
y1 = (int)((lat - (float)lat_m) * 1201.0);
y2 = y1 + 1;
fy = ((lat - (float)lat_m) * 1201.0);
x1 = (int)((lon - (float)lon_m) * 1201.0);
x2 = x1 + 1;
fx = ((lon - (float)lon_m) * 1201.0);
#ifndef SDLGL
return AltCache[alt_num].data[y1][x1];
#else
// geting alt-values of field-points
int16_t vx1a = AltCache[alt_num].data[y1][x1];
int16_t vx2a = AltCache[alt_num].data[y1][x2];
int16_t vx1b = AltCache[alt_num].data[y2][x1];
int16_t vx2b = AltCache[alt_num].data[y2][x2];
if (vx1a == -32768) {
uint16_t tn = 0;
for (tn = 0; tn < 10; tn++) {
vx1a = AltCache[alt_num].data[y1 + tn][x1 + tn];
if (vx1a != -32768) {
break;
}
vx1a = AltCache[alt_num].data[y1 - tn][x1 - tn];
if (vx1a != -32768) {
break;
}
}
}
if (vx2a == -32768) {
uint16_t tn = 0;
for (tn = 0; tn < 10; tn++) {
vx2a = AltCache[alt_num].data[y1 + tn][x2 + tn];
if (vx2a != -32768) {
break;
}
vx2a = AltCache[alt_num].data[y1 - tn][x2 - tn];
if (vx2a != -32768) {
break;
}
}
}
if (vx1b == -32768) {
uint16_t tn = 0;
for (tn = 0; tn < 10; tn++) {
vx1b = AltCache[alt_num].data[y2 + tn][x1 + tn];
if (vx1b != -32768) {
break;
}
vx1b = AltCache[alt_num].data[y2 - tn][x1 - tn];
if (vx1b != -32768) {
break;
}
}
}
if (vx2b == -32768) {
uint16_t tn = 0;
for (tn = 0; tn < 10; tn++) {
vx2b = AltCache[alt_num].data[y2 + tn][x2 + tn];
if (vx2b != -32768) {
break;
}
vx2b = AltCache[alt_num].data[y2 - tn][x2 - tn];
if (vx2b != -32768) {
break;
}
}
}
// geting alt-values of avarages (x1,y1->x2,y1 and x1,y2->x2,y2)
int16_t vxa = (float)(vx2a - vx1a) * (fx - (float)x1) + (float)vx1a;
int16_t vxb = (float)(vx2b - vx1b) * (fx - (float)x1) + (float)vx1b;
// geting alt-values avarages (xy1->xy2)
int16_t alt = (vxb - vxa) * (fy - (float)y1) + vxa;
return alt;
#endif
}
return 0;
}
