public void Step(ControlElement controlElement)
{
ContactEnv.Elevation = _gmTerrainH;
ContactEnv.Normal = _normal;
Hel.WindSpeed = _windSpeed;
Hel.Mass = 10800.0;
Hel.InertialMoments = _inertialMoments;
Hel.PosCG = _posCg;
Hel.vehicleCtrl.CyclicPitch = controlElement._cyclicStepHandleLeft.Elevator;
Hel.vehicleCtrl.CyclicRoll = controlElement._cyclicStepHandleLeft.Aileron;
Hel.vehicleCtrl.Direction = controlElement._pedalsLeft.Pedal;
Hel.vehicleCtrl.Collective = controlElement._generalStepHandleLeft.GeneralStep;
IntPtr ptrHel = GetIntPtr(Hel);
IntPtr ptrCe = GetIntPtr(ContactEnv);
IntPtr ptrRs = GetIntPtr(ResState);
IntPtr ptrRh = GetIntPtr(ResHel);
Step(0.02, ptrHel, ptrCe, ptrRs, ptrRh);
ResState = (KinematicsState)Marshal.PtrToStructure(ptrRs, typeof(KinematicsState));
ResHel = (VhclOutp)Marshal.PtrToStructure(ptrRh, typeof(VhclOutp));
_dataOut.KinematicsState = ResState;
_dataOut.VhclOutp = ResHel;
_udpHelper.Send(GetByte(ResState), "127.0.0.1", 6100);
_udpHelper.Send(GetByte(_dataOut), "127.0.0.1", 20020);
_udpHelper.Send(GetByte(ResState), "127.0.0.1", 6105);
Marshal.FreeHGlobal(ptrHel);
Marshal.FreeHGlobal(ptrCe);
Marshal.FreeHGlobal(ptrRs);
Marshal.FreeHGlobal(ptrRh);
}
public void Step(ControlElement controlElement)
{
Hel.VehicleCtrl.AltimeterBaroPressure = 761.2;
ContactEnv.Elevation = _gmTerrainH;
ContactEnv.Normal = _normal;
Hel.AirState.WindSpeed = _windSpeed;
Hel.Mass = 10800.0;
Hel.InertialMoments = _inertialMoments;
Hel.PosCG = _posCg;
if (controlElement.Channel == 1)
{
Hel.VehicleCtrl.CyclicPitch = controlElement._cyclicStepHandleLeft.Elevator;
Hel.VehicleCtrl.CyclicRoll = controlElement._cyclicStepHandleLeft.Aileron;
Hel.VehicleCtrl.Direction = controlElement._pedalsLeft.Pedal;
Hel.VehicleCtrl.Collective = controlElement._generalStepHandleLeft.GeneralStep;
Hel.VehicleCtrl.Trimmer = (byte)controlElement._cyclicStepHandleLeft.BtnTrim;
Hel.VehicleCtrl.Friction = (byte)controlElement._generalStepHandleLeft.BtnStabilizer;
Hel.VehicleCtrl.NoseGear.Brake = controlElement._cyclicStepHandleLeft.BtnWheelBrake;
Hel.VehicleCtrl.MainGearLeft.Brake = controlElement._cyclicStepHandleLeft.BtnWheelBrake;
Hel.VehicleCtrl.MainGearRight.Brake = controlElement._cyclicStepHandleLeft.BtnWheelBrake;
}
else if (controlElement.Channel == 2)
{
Hel.VehicleCtrl.CyclicPitch = controlElement._cyclicStepHandleRight.Elevator;
Hel.VehicleCtrl.CyclicRoll = controlElement._cyclicStepHandleRight.Aileron;
Hel.VehicleCtrl.Direction = controlElement._pedalsLeft.Pedal;
Hel.VehicleCtrl.Collective = controlElement._generalStepHandleRight.GeneralStep;
Hel.VehicleCtrl.Trimmer = (byte)controlElement._cyclicStepHandleRight.BtnTrim;
Hel.VehicleCtrl.Friction = (byte)controlElement._generalStepHandleRight.BtnStabilizer;
Hel.VehicleCtrl.NoseGear.Brake = controlElement._cyclicStepHandleRight.BtnWheelBrake;
Hel.VehicleCtrl.MainGearLeft.Brake = controlElement._cyclicStepHandleRight.BtnWheelBrake;
Hel.VehicleCtrl.MainGearRight.Brake = controlElement._cyclicStepHandleRight.BtnWheelBrake;
}
//Hel.VehicleCtrl.CyclicPitch = 0.5;
//Hel.VehicleCtrl.CyclicRoll = 0.5;
//Hel.VehicleCtrl.Direction = 0.5; ;
//Hel.VehicleCtrl.Collective = 0.0;
//Hel.VehicleCtrl.Trimmer = 0;
//Hel.VehicleCtrl.Friction = 0;
//Hel.VehicleCtrl.NoseGear.Brake = 1;
//Hel.VehicleCtrl.MainGearLeft.Brake = 1;
//Hel.VehicleCtrl.MainGearRight.Brake = 1;
IntPtr ptrHel = GetIntPtr(Hel);
IntPtr ptrCe = GetIntPtr(ContactEnv);
IntPtr ptrRs = GetIntPtr(ResState);
IntPtr ptrRh = GetIntPtr(ResHel);
Step(0.01, ptrHel, ptrCe, ptrRs, ptrRh);
ResState = (KinematicsState)Marshal.PtrToStructure(ptrRs, typeof(KinematicsState));
ResHel = (VhclOutp)Marshal.PtrToStructure(ptrRh, typeof(VhclOutp));
_dataOut.KinematicsState = ResState;
_dataOut.VhclOutp = ResHel;
_dataOut.VhclInp = Hel;
foreach (var ippoint in _config.NetworkSettings.Svvo.Position.IPPoint)
{
_udpHelper.Send(GetByte(ResState), ippoint.Ip, ippoint.Port);
}
foreach (var ippoint in _config.NetworkSettings.DataTransfer.DynamicModel.IPPoint)
{
_udpHelper.Send(GetByte(_dataOut), ippoint.Ip, ippoint.Port);
}
if (_isRecord)
{
_recordFlight.RecordData(_dataOut, ResState);
}
Marshal.FreeHGlobal(ptrHel);
Marshal.FreeHGlobal(ptrCe);
Marshal.FreeHGlobal(ptrRs);
Marshal.FreeHGlobal(ptrRh);
}
public ModelHx()
{
KinematicsState = new KinematicsState();
VhclOutp = new VhclOutp();
VhclInp = new VhclInp();
}
