tourel beacon

[aversive.git] / projects / microb2010 / tests / tourel_beacon / main.c

diff --git a/projects/microb2010/tests/tourel_beacon/main.c b/projects/microb2010/tests/tourel_beacon/main.c
index 8c14f41..90fa109 100644 (file)
--- a/projects/microb2010/tests/tourel_beacon/main.c
+++ b/projects/microb2010/tests/tourel_beacon/main.c
@@ -529,14 +529,17 @@ int main(int argc, char **argv)
        }
 
        /* da_error algo errpercent errdeg */
-       if (argc == 5 && strcmp(mode, "da_error") == 0) {
+       if ((argc == 5 && strcmp(mode, "da_error") == 0) ||
+           (argc == 5 && strcmp(mode, "da_error_mm") == 0)) {
                int x, y, algo;
                double err_val_deg;
                double err_val_percent;
+               double err_val_mm;
                double err, d0, d1, a;
 
                algo = atoi(argv[2]);
                err_val_percent = atof(argv[3]); /* how many % of error for dist */
+               err_val_mm = atof(argv[3]); /* how many mm of error for dist */
                err_val_deg = atof(argv[4]); /* how many degrees of error */
 
                for (x=0; x<300; x++) {
@@ -547,9 +550,15 @@ int main(int argc, char **argv)
                                posxy_to_abs_angles(pos, &a0, &a1, &a2,
                                                    0, err_val_deg);
                                d0 = pt_norm(&pos, &beacon0);
-                               d0 += d0 * err_val_percent / 100.;
                                d1 = pt_norm(&pos, &beacon1);
-                               d1 += d1 * err_val_percent / 100.;
+                               if (strcmp(mode, "da_error") == 0) {
+                                       d0 += d0 * err_val_percent / 100.;
+                                       d1 += d1 * err_val_percent / 100.;
+                               }
+                               else {
+                                       d0 += err_val_mm;
+                                       d1 += err_val_mm;
+                               }
 
                                if (ad_to_posxya(&tmp, &a, algo, &beacon0, &beacon1,
                                                 a0, a1, d0, d1) < 0)