public void update(ref double[] servos, ArdupilotMega.GCSViews.Simulation.FGNetFDM fdm)
        {
            for (int i = 0; i < servos.Length; i++)
            {
                if (servos[i] <= 0.0)
                {
                    motor_speed[i] = 0;
                }
                else
                {
                    motor_speed[i] = scale_rc(i, (float)servos[i], 0.0f, 1.0f);
                    //servos[i] = motor_speed[i];
                }
            }
            double[] m = motor_speed;

            /*
             * roll = 0;
             * pitch = 0;
             * yaw = 0;
             * roll_rate = 0;
             * pitch_rate = 0;
             * yaw_rate = 0;
             */

            //            Console.WriteLine("\nin m {0:0.000000} {1:0.000000} {2:0.000000} {3:0.000000}", m[0], m[1], m[2], m[3]);
            //            Console.WriteLine("in vel {0:0.000000} {1:0.000000} {2:0.000000}", velocity.X, velocity.Y, velocity.Z);
            //Console.WriteLine("in r {0:0.000000} p {1:0.000000} y {2:0.000000}    - r {3:0.000000} p {4:0.000000} y {5:0.000000}", roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate);


            //            m[0] *= 0.5;

            //# how much time has passed?
            DateTime t          = DateTime.Now;
            TimeSpan delta_time = t - last_time; // 0.02

            last_time = t;

            if (delta_time.TotalMilliseconds > 100) // somethings wrong / debug
            {
                delta_time = new TimeSpan(0, 0, 0, 0, 20);
            }

            // rotational acceleration, in degrees/s/s, in body frame
            double roll_accel  = 0.0;
            double pitch_accel = 0.0;
            double yaw_accel   = 0.0;
            double thrust      = 0.0;

            foreach (var i in range((self.motors.Length)))
            {
                roll_accel  += -5000.0 * sin(radians(self.motors[i].angle)) * m[i];
                pitch_accel += 5000.0 * cos(radians(self.motors[i].angle)) * m[i];
                if (self.motors[i].clockwise)
                {
                    yaw_accel -= m[i] * 400.0;
                }
                else
                {
                    yaw_accel += m[i] * 400.0;
                }
                thrust += m[i] * self.thrust_scale; // newtons
            }

            // rotational resistance
            roll_accel  -= (self.pDeg / self.terminal_rotation_rate) * 5000.0;
            pitch_accel -= (self.qDeg / self.terminal_rotation_rate) * 5000.0;
            yaw_accel   -= (self.rDeg / self.terminal_rotation_rate) * 400.0;

            //Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);

            //# update rotational rates in body frame
            self.pDeg += roll_accel * delta_time.TotalSeconds;
            self.qDeg += pitch_accel * delta_time.TotalSeconds;
            self.rDeg += yaw_accel * delta_time.TotalSeconds;

            // Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);

            // calculate rates in earth frame

            var answer = BodyRatesToEarthRates(self.roll, self.pitch, self.yaw,
                                               self.pDeg, self.qDeg, self.rDeg);

            self.roll_rate  = answer.Item1;
            self.pitch_rate = answer.Item2;
            self.yaw_rate   = answer.Item3;

            //self.roll_rate = pDeg;
            //self.pitch_rate = qDeg;
            //self.yaw_rate = rDeg;

            //# update rotation
            roll  += roll_rate * delta_time.TotalSeconds;
            pitch += pitch_rate * delta_time.TotalSeconds;
            yaw   += yaw_rate * delta_time.TotalSeconds;

            //            Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);

            //Console.WriteLine("r {0:0.0} p {1:0.0} y {2:0.0}    - r {3:0.0} p {4:0.0} y {5:0.0}  ms {6:0.000}", roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate, delta_time.TotalSeconds);

            //# air resistance
            Vector3d air_resistance = -velocity * (gravity / terminal_velocity);

            //# normalise rotations
            normalise();

            double accel = thrust / mass;

            //Console.WriteLine("in {0:0.000000} {1:0.000000} {2:0.000000} {3:0.000000}", roll, pitch, yaw, accel);

            Vector3d accel3D = RPY_to_XYZ(roll, pitch, yaw, accel);

            //Console.WriteLine("accel3D " + accel3D.X + " " + accel3D.Y + " " + accel3D.Z);
            accel3D += new Vector3d(0, 0, -gravity);
            accel3D += air_resistance;

            Random rand = new Random();

            //velocity.X += .02 + rand.NextDouble() * .03;
            //velocity.Y += .02 + rand.NextDouble() * .03;

            //# new velocity vector
            velocity  += accel3D * delta_time.TotalSeconds;
            this.accel = accel3D;

            //# new position vector
            old_position = new Vector3d(position);
            position    += velocity * delta_time.TotalSeconds;

            //            Console.WriteLine(fdm.agl + " "+ fdm.altitude);

            //Console.WriteLine("Z {0} halt {1}  < gl {2} fh {3}" ,position.Z , home_altitude , ground_level , frame_height);

            if (home_latitude == 0 || home_latitude > 90 || home_latitude < -90 || home_longitude == 0)
            {
                this.home_latitude  = fdm.latitude * rad2deg;
                this.home_longitude = fdm.longitude * rad2deg;
                this.home_altitude  = fdm.altitude * ft2m;
                this.ground_level   = this.home_altitude;

                this.altitude  = fdm.altitude * ft2m;
                this.latitude  = fdm.latitude * rad2deg;
                this.longitude = fdm.longitude * rad2deg;
            }

            //# constrain height to the ground
            if (position.Z + home_altitude < ground_level + frame_height)
            {
                if (old_position.Z + home_altitude > ground_level + frame_height)
                {
                    //                    Console.WriteLine("Hit ground at {0} m/s", (-velocity.Z));
                }
                velocity   = new Vector3d(0, 0, 0);
                roll_rate  = 0;
                pitch_rate = 0;
                yaw_rate   = 0;
                roll       = 0;
                pitch      = 0;
                position   = new Vector3d(position.X, position.Y,
                                          ground_level + frame_height - home_altitude + 0);
                // Console.WriteLine("here " + position.Z);
            }

            //# update lat/lon/altitude
            update_position();

            // send to apm
#if MAVLINK10
            ArdupilotMega.MAVLink.mavlink_gps_raw_int_t gps = new ArdupilotMega.MAVLink.mavlink_gps_raw_int_t();
#else
            ArdupilotMega.MAVLink.mavlink_gps_raw_t gps = new ArdupilotMega.MAVLink.mavlink_gps_raw_t();
#endif

            ArdupilotMega.MAVLink.mavlink_attitude_t att = new ArdupilotMega.MAVLink.mavlink_attitude_t();

            ArdupilotMega.MAVLink.mavlink_vfr_hud_t asp = new ArdupilotMega.MAVLink.mavlink_vfr_hud_t();

            att.roll       = (float)roll * deg2rad;
            att.pitch      = (float)pitch * deg2rad;
            att.yaw        = (float)yaw * deg2rad;
            att.rollspeed  = (float)roll_rate * deg2rad;
            att.pitchspeed = (float)pitch_rate * deg2rad;
            att.yawspeed   = (float)yaw_rate * deg2rad;

#if MAVLINK10
            gps.alt       = ((int)(altitude * 1000));
            gps.fix_type  = 3;
            gps.vel       = (ushort)(Math.Sqrt((velocity.X * velocity.X) + (velocity.Y * velocity.Y)) * 100);
            gps.cog       = (ushort)((((Math.Atan2(velocity.Y, velocity.X) * rad2deg) + 360) % 360) * 100);
            gps.lat       = (int)(latitude * 1.0e7);
            gps.lon       = (int)(longitude * 1.0e7);
            gps.time_usec = ((ulong)DateTime.Now.Ticks);

            asp.airspeed = gps.vel;
#else
            gps.alt      = ((float)(altitude));
            gps.fix_type = 3;

            gps.lat  = ((float)latitude);
            gps.lon  = ((float)longitude);
            gps.usec = ((ulong)DateTime.Now.Ticks);

            //Random rand = new Random();
            //gps.alt += (rand.Next(100) - 50) / 100.0f;
            //gps.lat += (float)((rand.NextDouble() - 0.5) * 0.00005);
            //gps.lon += (float)((rand.NextDouble() - 0.5) * 0.00005);
            //gps.v += (float)(rand.NextDouble() - 0.5) * 1.0f;

            gps.v   = ((float)Math.Sqrt((velocity.X * velocity.X) + (velocity.Y * velocity.Y)));
            gps.hdg = (float)(((Math.Atan2(velocity.Y, velocity.X) * rad2deg) + 360) % 360);;

            asp.airspeed = gps.v;
#endif

            MainV2.comPort.sendPacket(att);

            MAVLink.mavlink_raw_pressure_t pres = new MAVLink.mavlink_raw_pressure_t();
            double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588));
            pres.press_diff1 = (short)(int)(calc); // 0 alt is 0 pa

            MainV2.comPort.sendPacket(pres);

            MainV2.comPort.sendPacket(asp);

            if (framecount % 120 == 0)
            {// 50 / 10 = 5 hz
                MainV2.comPort.sendPacket(gps);
                //Console.WriteLine(DateTime.Now.Millisecond + " GPS" );
            }

            framecount++;
        }
Ejemplo n.º 2
0
        /// <summary>
        /// Recevied UDP packet, process and send required data to serial port.
        /// </summary>
        /// <param name="data">Packet</param>
        /// <param name="receviedbytes">Length</param>
        /// <param name="comPort">Com Port</param>
        private void RECVprocess(byte[] data, int receviedbytes, MAVLinkInterface comPort)
        {
            sitl_fdm sitldata = new sitl_fdm();

            if (data[0] == 'D' && data[1] == 'A')
            {
                // Xplanes sends
                // 5 byte header
                // 1 int for the index - numbers on left of output
                // 8 floats - might be useful. or 0 if not
                int count = 5;
                while (count < receviedbytes)
                {
                    int index = BitConverter.ToInt32(data, count);

                    DATA[index] = new float[8];

                    DATA[index][0] = BitConverter.ToSingle(data, count + 1 * 4); ;
                    DATA[index][1] = BitConverter.ToSingle(data, count + 2 * 4); ;
                    DATA[index][2] = BitConverter.ToSingle(data, count + 3 * 4); ;
                    DATA[index][3] = BitConverter.ToSingle(data, count + 4 * 4); ;
                    DATA[index][4] = BitConverter.ToSingle(data, count + 5 * 4); ;
                    DATA[index][5] = BitConverter.ToSingle(data, count + 6 * 4); ;
                    DATA[index][6] = BitConverter.ToSingle(data, count + 7 * 4); ;
                    DATA[index][7] = BitConverter.ToSingle(data, count + 8 * 4); ;

                    count += 36; // 8 * float
                }

                bool xplane9 = !CHK_xplane10.Checked;

               

                if (xplane9)
                {
                    sitldata.pitchDeg = (DATA[18][0]);
                    sitldata.rollDeg = (DATA[18][1]);
                    sitldata.yawDeg = (DATA[18][2]);
                    sitldata.pitchRate = (DATA[17][0] * rad2deg);
                    sitldata.rollRate = (DATA[17][1] * rad2deg);
                    sitldata.yawRate = (DATA[17][2] * rad2deg);

                    sitldata.heading = ((float)DATA[19][2]);

                    sitldata.speedN =-DATA[21][5];// (DATA[3][7] * 0.44704 * Math.Sin(sitldata.heading * deg2rad));
                    sitldata.speedE = DATA[21][3];// (DATA[3][7] * 0.44704 * Math.Cos(sitldata.heading * deg2rad));
                    sitldata.speedD = -DATA[21][4];
                }
                else
                {
                    sitldata.pitchDeg = (DATA[17][0]);
                    sitldata.rollDeg = (DATA[17][1]);
                    sitldata.yawDeg = (DATA[17][2]);
                    sitldata.pitchRate = (DATA[16][0] * rad2deg);
                    sitldata.rollRate = (DATA[16][1] * rad2deg);
                    sitldata.yawRate = (DATA[16][2] * rad2deg);

                    sitldata.heading = (DATA[18][2]); // 18-2


                    sitldata.speedN = -DATA[21][5];// (DATA[3][7] * 0.44704 * Math.Sin(sitldata.heading * deg2rad));
                    sitldata.speedE = DATA[21][3];// (DATA[3][7] * 0.44704 * Math.Cos(sitldata.heading * deg2rad));
                    sitldata.speedD = -DATA[21][4];
                }

                sitldata.airspeed = ((DATA[3][5] * .44704));

                sitldata.latitude = (DATA[20][0]);
                sitldata.longitude = (DATA[20][1]);
                sitldata.altitude = (DATA[20][2] * ft2m);

           

                Matrix3 dcm = new Matrix3();
                dcm.from_euler(sitldata.rollDeg * deg2rad, sitldata.pitchDeg * deg2rad, sitldata.heading * deg2rad);

                // rad = tas^2 / (tan(angle) * G)
                float turnrad = (float)(((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704)) / (float)(9.808f * Math.Tan(sitldata.rollDeg * deg2rad)));

                float gload = (float)(1 / Math.Cos(sitldata.rollDeg * deg2rad)); // calculated Gs

                // a = v^2/r
                float centripaccel = (float)((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704)) / turnrad;

                Vector3 accel_body = dcm.transposed() * (new Vector3(0, 0, -9.808));

                Vector3 centrip_accel = new Vector3(0, centripaccel * Math.Cos(sitldata.rollDeg * deg2rad), centripaccel * Math.Sin(sitldata.rollDeg * deg2rad));

              //  accel_body += centrip_accel;

                Vector3 velocitydelta = dcm.transposed() * (new Vector3((sitldata_old.speedN - sitldata.speedN), (sitldata_old.speedE - sitldata.speedE), (sitldata_old.speedD - sitldata.speedD)));

                Vector3 velocity = dcm.transposed() * (new Vector3((sitldata.speedN), (sitldata.speedE), (sitldata.speedD)));

                //Console.WriteLine("vel " + velocity.ToString());
                //Console.WriteLine("ved " + velocitydelta.ToString());

                // a = dv / dt

                // 50 hz = 0.02sec
                Vector3 accel_mine_body = dcm.transposed() * (new Vector3((sitldata_old.speedN - sitldata.speedN) / 0.02, (sitldata_old.speedE - sitldata.speedE) / 0.02, (sitldata_old.speedD - sitldata.speedD) / 0.02));

             //   Console.WriteLine("G"+accel_body.ToString());
                //Console.WriteLine("M"+accel_mine_body.ToString());

             //   sitldata.pitchRate = 0;
              //  sitldata.rollRate = 0;
              //  sitldata.yawRate = 0;

                //accel_mine_body.x =0;// *= -1;
                //accel_mine_body.y =0;//*= -1;

               // accel_body -= accel_mine_body;

                sitldata.xAccel = accel_body.x;// DATA[4][5] * 1;
                sitldata.yAccel = accel_body.y;//  DATA[4][6] * 1;
                sitldata.zAccel = accel_body.z;//  (0 - DATA[4][4]) * 9.808;

                sitldata.xAccel = DATA[4][5] *9.808;
                sitldata.yAccel = DATA[4][6] *9.808;
                sitldata.zAccel = -DATA[4][4] *9.808;

             //   Console.WriteLine(accel_body.ToString());
              //  Console.WriteLine("        {0} {1} {2}",sitldata.xAccel, sitldata.yAccel, sitldata.zAccel);

            }
            else if (receviedbytes == 0x64) // FG binary udp
            {
                //FlightGear
                /*

                fgIMUData imudata2 = data.ByteArrayToStructureBigEndian<fgIMUData>(0);

                if (imudata2.magic != 0x4c56414d)
                    return;

                if (imudata2.latitude == 0)
                    return;

                chkSensor.Checked = true;

                imu.time_usec = ((ulong)DateTime.Now.ToBinary());

                imu.xacc = ((Int16)(imudata2.accelX * 9808 / 32.2));
                imu.xgyro = ((Int16)(imudata2.rateRoll * 17.453293));
                imu.xmag = 0;
                imu.yacc = ((Int16)(imudata2.accelY * 9808 / 32.2));
                imu.ygyro = ((Int16)(imudata2.ratePitch * 17.453293));
                imu.ymag = 0;
                imu.zacc = ((Int16)(imudata2.accelZ * 9808 / 32.2)); // + 1000
                imu.zgyro = ((Int16)(imudata2.rateYaw * 17.453293));
                imu.zmag = 0;

                gps.alt = ((int)(imudata2.altitude * ft2m * 1000));
                gps.fix_type = 3;
                gps.cog = (ushort)(Math.Atan2(imudata2.velocityE, imudata2.velocityN) * rad2deg * 100);
                gps.lat = (int)(imudata2.latitude * 1.0e7);
                gps.lon = (int)(imudata2.longitude * 1.0e7);
                gps.time_usec = ((ulong)DateTime.Now.Ticks);
                gps.vel = (ushort)(Math.Sqrt((imudata2.velocityN * imudata2.velocityN) + (imudata2.velocityE * imudata2.velocityE)) * ft2m * 100);

                //FileStream stream = File.OpenWrite("fgdata.txt");
                //stream.Write(data, 0, receviedbytes);
                //stream.Close();
                 */
            }
            else if (receviedbytes == 662 || receviedbytes == 658) // 658 = 3.83   662 = 3.91
            {
                /*
            // Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
            public float Model_fVel_Body_X; public float Model_fVel_Body_Y; public float Model_fVel_Body_Z;    // m/s    Model velocity in body coordinates
            public float Model_fAngVel_Body_X; public float Model_fAngVel_Body_Y; public float Model_fAngVel_Body_Z; // rad/s  Model angular velocity in body coordinates
            public float Model_fAccel_Body_X; public float Model_fAccel_Body_Y; public float Model_fAccel_Body_Z;  // m/s/s  Model acceleration in body coordinates
                 */
                TDataFromAeroSimRC aeroin_last = aeroin;

                aeroin = data.ByteArrayToStructure<TDataFromAeroSimRC>(0);

                sitldata.pitchDeg = (aeroin.Model_fPitch * rad2deg);
                sitldata.rollDeg = (aeroin.Model_fRoll * -1 * rad2deg);
                sitldata.yawDeg = ((aeroin.Model_fHeading * rad2deg));

                sitldata.pitchRate =aeroin.Model_fAngVel_Body_X * rad2deg;
                sitldata.rollRate = aeroin.Model_fAngVel_Body_Y * rad2deg;
                sitldata.yawRate = -aeroin.Model_fAngVel_Body_Z * rad2deg;

                // calc gravity
                Matrix3 dcm = new Matrix3();
                dcm.from_euler(sitldata.rollDeg * deg2rad, sitldata.pitchDeg * deg2rad, sitldata.yawDeg * deg2rad);

                Vector3 accel_body = dcm.transposed() * (new Vector3(0, 0, -9.8)); // -9.8

                sitldata.xAccel = aeroin.Model_fAccel_Body_Y / 9.808 + accel_body.x;// pitch - back forward-
                sitldata.yAccel = aeroin.Model_fAccel_Body_X / 9.808 + accel_body.y; // roll - left right-
                sitldata.zAccel = -aeroin.Model_fAccel_Body_Z /9.808 + accel_body.z;

              //  Console.WriteLine("2 {0,20} {1,20} {2,20}", aeroin.Model_fAccel_Body_X.ToString("0.000"), aeroin.Model_fAccel_Body_Y.ToString("0.000"), aeroin.Model_fAccel_Body_Z.ToString("0.000"));

                sitldata.altitude = aeroin.Model_fPosZ;
                sitldata.latitude = aeroin.Model_fLatitude;
                sitldata.longitude = aeroin.Model_fLongitude;

                sitldata.speedN = aeroin.Model_fVelY;
                sitldata.speedE = aeroin.Model_fVelX;
                sitldata.speedD = aeroin.Model_fVelZ;

                float xvec = aeroin.Model_fVelY - aeroin.Model_fWindVelY;
                float yvec = aeroin.Model_fVelX - aeroin.Model_fWindVelX;

                sitldata.airspeed = ((float)Math.Sqrt((yvec * yvec) + (xvec * xvec)));
            }
            else if (receviedbytes == 408)
            {
                
                FGNetFDM fdm = data.ByteArrayToStructureBigEndian<FGNetFDM>(0);

                lastfdmdata = fdm;

                sitldata.altitude = (fdm.altitude);
                sitldata.latitude = (fdm.latitude * rad2deg);
                sitldata.longitude = (fdm.longitude * rad2deg);

                sitldata.rollDeg = fdm.phi * rad2deg;
                sitldata.pitchDeg = fdm.theta * rad2deg;
                sitldata.yawDeg = fdm.psi * rad2deg;

                sitldata.rollRate = fdm.phidot * rad2deg;
                sitldata.pitchRate = fdm.thetadot * rad2deg;
                sitldata.yawRate = fdm.psidot * rad2deg;

                sitldata.speedN = fdm.v_north * ft2m;
                sitldata.speedE = fdm.v_east * ft2m;
                sitldata.speedD = fdm.v_down * ft2m;

                sitldata.xAccel = (fdm.A_X_pilot * 9.808 / 32.2); // pitch
                sitldata.yAccel = (fdm.A_Y_pilot * 9.808 / 32.2); // roll
                sitldata.zAccel = (fdm.A_Z_pilot / 32.2 * 9.808);

                sitldata.airspeed = fdm.vcas * 0.5144444f;//  knots to m/s

               // Console.WriteLine("1 {0} {1} {2} {3}",(float)sitldata.rollDeg,MainV2.comPort.MAV.cs.roll,sitldata.pitchDeg,MainV2.comPort.MAV.cs.pitch);

                if (RAD_JSBSim.Checked)
                    sitldata.airspeed = fdm.vcas * ft2m;//  fps to m/s
                 
            }
            else
            {
                log.Info("Bad Udp Packet " + receviedbytes);
                return;
            }

            if (sitldata.altitude < 0)
                sitldata.altitude = 0.00001;

            sitldata_old = sitldata;

            // write arduimu to ardupilot
            if (CHK_quad.Checked && !RAD_aerosimrc.Checked) // quad does its own
            {
                return;
            }

            if (RAD_JSBSim.Checked && chkSITL.Checked)
            {
                byte[] buffer = new byte[1500];
                while (JSBSimSEND.Client.Available > 5)
                {
                    int read = JSBSimSEND.Client.Receive(buffer);
                   // Console.WriteLine(ASCIIEncoding.ASCII.GetString(buffer,0,read));
                }

                sitldata.magic = (int)0x4c56414f;

                byte[] sendme = StructureToByteArray(sitldata);

                SITLSEND.Send(sendme, sendme.Length);

                return;
            }

            if (chkSITL.Checked)
            {
                sitldata.magic = (int)0x4c56414f;

                byte[] sendme = StructureToByteArray(sitldata);

                SITLSEND.Send(sendme, sendme.Length);
                
                return;
            }


            TimeSpan gpsspan = DateTime.Now - lastgpsupdate;

            // add gps delay
            if (gpsspan.TotalMilliseconds >= GPS_rate)
            {
                lastgpsupdate = DateTime.Now;

                // save current fix = 3
                sitl_fdmbuffer[gpsbufferindex % sitl_fdmbuffer.Length] = sitldata;

                //                Console.WriteLine((gpsbufferindex % gpsbuffer.Length) + " " + ((gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length));

                // return buffer index + 5 = (3 + 5) = 8 % 6 = 2
                oldgps = sitl_fdmbuffer[(gpsbufferindex + (sitl_fdmbuffer.Length - 1)) % sitl_fdmbuffer.Length];

                //comPort.sendPacket(oldgps);

                gpsbufferindex++;
            }


            MAVLink.mavlink_hil_state_t hilstate = new MAVLink.mavlink_hil_state_t();

            DateTime epochBegin = new DateTime(1980, 1, 6, 0, 0, 0, DateTimeKind.Utc);
            hilstate.time_usec = (UInt64)((DateTime.Now.Ticks - epochBegin.Ticks) / 10); // microsec
            
            hilstate.lat = (int)(oldgps.latitude * 1e7); // * 1E7
            hilstate.lon = (int)(oldgps.longitude * 1e7); // * 1E7
            hilstate.alt = (int)(oldgps.altitude * 1000); // mm

         //   Console.WriteLine(hilstate.alt);

           // Console.WriteLine("{0} {1} {2}", sitldata.rollDeg.ToString("0.0"), sitldata.pitchDeg.ToString("0.0"), sitldata.yawDeg.ToString("0.0"));
            

            hilstate.pitch = (float)sitldata.pitchDeg * deg2rad; // (rad)
            hilstate.pitchspeed = (float)sitldata.pitchRate * deg2rad; // (rad/s)
            hilstate.roll = (float)sitldata.rollDeg * deg2rad; // (rad)
            hilstate.rollspeed = (float)sitldata.rollRate * deg2rad; // (rad/s)
            hilstate.yaw = (float)sitldata.yawDeg * deg2rad; // (rad)
            hilstate.yawspeed = (float)sitldata.yawRate * deg2rad; // (rad/s)
            
            hilstate.vx = (short)(sitldata.speedN * 100); // m/s * 100 - lat
            hilstate.vy = (short)(sitldata.speedE * 100); // m/s * 100 - long
            hilstate.vz = (short)(sitldata.speedD * 100); // m/s * 100 - + speed down

            hilstate.xacc = (short)(sitldata.xAccel * 101.957); // (mg)
            hilstate.yacc = (short)(sitldata.yAccel * 101.957); // (mg)
            hilstate.zacc = (short)(sitldata.zAccel * 101.957); // (mg)


            packetcount++;

            if (!comPort.BaseStream.IsOpen)
                return;

            if (comPort.BaseStream.BytesToWrite > 100)
                return;

          //  if (packetcount % 2 == 0) 
          //      return;

            comPort.sendPacket(hilstate);


            //            comPort.sendPacket(oldgps);

            //comPort.sendPacket(new MAVLink.mavlink_vfr_hud_t() { airspeed = (float)sitldata.airspeed } );

            MAVLink.mavlink_raw_pressure_t pres = new MAVLink.mavlink_raw_pressure_t();
            double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * sitldata.altitude, 5.25588)); // updated from valid gps
            pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa

           // comPort.sendPacket(pres);
        }
Ejemplo n.º 3
0
        public void update(ref double[] servos, ArdupilotMega.GCSViews.Simulation.FGNetFDM fdm)
        {
            for (int i = 0; i < servos.Length; i++)
            {
                if (servos[i] <= 0.0)
                {
                    motor_speed[i] = 0;
                }
                else
                {
                    motor_speed[i] = scale_rc(i, (float)servos[i], 0.0f, 1.0f);
                    //servos[i] = motor_speed[i];
                }
            }
            double[] m = motor_speed;

            /*
            roll = 0;
            pitch = 0;
            yaw = 0;
            roll_rate = 0;
            pitch_rate = 0;
            yaw_rate = 0;
            */

            //            Console.WriteLine("\nin m {0:0.000000} {1:0.000000} {2:0.000000} {3:0.000000}", m[0], m[1], m[2], m[3]);
            //            Console.WriteLine("in vel {0:0.000000} {1:0.000000} {2:0.000000}", velocity.X, velocity.Y, velocity.Z);
            //Console.WriteLine("in r {0:0.000000} p {1:0.000000} y {2:0.000000}    - r {3:0.000000} p {4:0.000000} y {5:0.000000}", roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate);

            //            m[0] *= 0.5;

            //# how much time has passed?
            DateTime t = DateTime.Now;
            TimeSpan delta_time = t - last_time; // 0.02
            last_time = t;

            if (delta_time.TotalMilliseconds > 100) // somethings wrong / debug
            {
                delta_time = new TimeSpan(0, 0, 0, 0, 20);
            }

            // rotational acceleration, in degrees/s/s, in body frame
            double roll_accel = 0.0;
            double pitch_accel = 0.0;
            double yaw_accel = 0.0;
            double thrust = 0.0;

            foreach (var i in range((self.motors.Length)))
            {
                roll_accel += -5000.0 * sin(radians(self.motors[i].angle)) * m[i];
                pitch_accel += 5000.0 * cos(radians(self.motors[i].angle)) * m[i];
                if (self.motors[i].clockwise)
                {
                    yaw_accel -= m[i] * 400.0;
                }
                else
                {
                    yaw_accel += m[i] * 400.0;
                }
                thrust += m[i] * self.thrust_scale; // newtons
            }

            // rotational resistance
            roll_accel -= (self.pDeg / self.terminal_rotation_rate) * 5000.0;
            pitch_accel -= (self.qDeg / self.terminal_rotation_rate) * 5000.0;
            yaw_accel -= (self.rDeg / self.terminal_rotation_rate) * 400.0;

            //Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);

            //# update rotational rates in body frame
            self.pDeg += roll_accel * delta_time.TotalSeconds;
            self.qDeg += pitch_accel * delta_time.TotalSeconds;
            self.rDeg += yaw_accel * delta_time.TotalSeconds;

            // Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);

            // calculate rates in earth frame

            var answer = BodyRatesToEarthRates(self.roll, self.pitch, self.yaw,
                                                     self.pDeg, self.qDeg, self.rDeg);
            self.roll_rate = answer.Item1;
            self.pitch_rate = answer.Item2;
            self.yaw_rate = answer.Item3;

            //self.roll_rate = pDeg;
            //self.pitch_rate = qDeg;
            //self.yaw_rate = rDeg;

            //# update rotation
            roll += roll_rate * delta_time.TotalSeconds;
            pitch += pitch_rate * delta_time.TotalSeconds;
            yaw += yaw_rate * delta_time.TotalSeconds;

            //            Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);

            //Console.WriteLine("r {0:0.0} p {1:0.0} y {2:0.0}    - r {3:0.0} p {4:0.0} y {5:0.0}  ms {6:0.000}", roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate, delta_time.TotalSeconds);

            //# air resistance
            Vector3d air_resistance = -velocity * (gravity / terminal_velocity);

            //# normalise rotations
            normalise();

            double accel = thrust / mass;

            //Console.WriteLine("in {0:0.000000} {1:0.000000} {2:0.000000} {3:0.000000}", roll, pitch, yaw, accel);

            Vector3d accel3D = RPY_to_XYZ(roll, pitch, yaw, accel);
            //Console.WriteLine("accel3D " + accel3D.X + " " + accel3D.Y + " " + accel3D.Z);
            accel3D += new Vector3d(0, 0, -gravity);
            accel3D += air_resistance;

            Random rand = new Random();

            //velocity.X += .02 + rand.NextDouble() * .03;
            //velocity.Y += .02 + rand.NextDouble() * .03;

            //# new velocity vector
            velocity += accel3D * delta_time.TotalSeconds;
            this.accel = accel3D;

            //# new position vector
            old_position = new Vector3d(position);
            position += velocity * delta_time.TotalSeconds;

            //            Console.WriteLine(fdm.agl + " "+ fdm.altitude);

            //Console.WriteLine("Z {0} halt {1}  < gl {2} fh {3}" ,position.Z , home_altitude , ground_level , frame_height);

            if (home_latitude == 0 || home_latitude > 90 || home_latitude < -90 || home_longitude == 0)
            {
                this.home_latitude = fdm.latitude * rad2deg;
                this.home_longitude = fdm.longitude * rad2deg;
                this.home_altitude = fdm.altitude * ft2m;
                this.ground_level = this.home_altitude;

                this.altitude = fdm.altitude * ft2m;
                this.latitude = fdm.latitude * rad2deg;
                this.longitude = fdm.longitude * rad2deg;
            }

            //# constrain height to the ground
            if (position.Z + home_altitude < ground_level + frame_height)
            {
                if (old_position.Z + home_altitude > ground_level + frame_height)
                {
                    //                    Console.WriteLine("Hit ground at {0} m/s", (-velocity.Z));
                }
                velocity = new Vector3d(0, 0, 0);
                roll_rate = 0;
                pitch_rate = 0;
                yaw_rate = 0;
                roll = 0;
                pitch = 0;
                position = new Vector3d(position.X, position.Y,
                                               ground_level + frame_height - home_altitude + 0);
                // Console.WriteLine("here " + position.Z);
            }

            //# update lat/lon/altitude
            update_position();

            // send to apm
            #if MAVLINK10
            ArdupilotMega.MAVLink.mavlink_gps_raw_int_t gps = new ArdupilotMega.MAVLink.mavlink_gps_raw_int_t();
            #else
            ArdupilotMega.MAVLink.mavlink_gps_raw_t gps = new ArdupilotMega.MAVLink.mavlink_gps_raw_t();
            #endif

            ArdupilotMega.MAVLink.mavlink_attitude_t att = new ArdupilotMega.MAVLink.mavlink_attitude_t();

            ArdupilotMega.MAVLink.mavlink_vfr_hud_t asp = new ArdupilotMega.MAVLink.mavlink_vfr_hud_t();

            att.roll = (float)roll * deg2rad;
            att.pitch = (float)pitch * deg2rad;
            att.yaw = (float)yaw * deg2rad;
            att.rollspeed = (float)roll_rate * deg2rad;
            att.pitchspeed = (float)pitch_rate * deg2rad;
            att.yawspeed = (float)yaw_rate * deg2rad;

            #if MAVLINK10

            gps.alt = ((int)(altitude * 1000));
            gps.fix_type = 3;
            gps.vel = (ushort)(Math.Sqrt((velocity.X * velocity.X) + (velocity.Y * velocity.Y)) * 100);
            gps.cog = (ushort)((((Math.Atan2(velocity.Y, velocity.X) * rad2deg) + 360) % 360) * 100);
            gps.lat = (int)(latitude* 1.0e7);
            gps.lon = (int)(longitude * 1.0e7);
            gps.time_usec = ((ulong)DateTime.Now.Ticks);

            asp.airspeed = gps.vel;

            #else
            gps.alt = ((float)(altitude));
            gps.fix_type = 3;

            gps.lat = ((float)latitude);
            gps.lon = ((float)longitude);
            gps.usec = ((ulong)DateTime.Now.Ticks);

            //Random rand = new Random();
            //gps.alt += (rand.Next(100) - 50) / 100.0f;
            //gps.lat += (float)((rand.NextDouble() - 0.5) * 0.00005);
            //gps.lon += (float)((rand.NextDouble() - 0.5) * 0.00005);
            //gps.v += (float)(rand.NextDouble() - 0.5) * 1.0f;

            gps.v = ((float)Math.Sqrt((velocity.X * velocity.X) + (velocity.Y * velocity.Y)));
            gps.hdg = (float)(((Math.Atan2(velocity.Y, velocity.X) * rad2deg) + 360) % 360); ;

            asp.airspeed = gps.v;
            #endif

            MainV2.comPort.sendPacket(att);

            MAVLink.mavlink_raw_pressure_t pres = new MAVLink.mavlink_raw_pressure_t();
            double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588));
            pres.press_diff1 = (short)(int)(calc); // 0 alt is 0 pa

            MainV2.comPort.sendPacket(pres);

            MainV2.comPort.sendPacket(asp);

            if (framecount % 120 == 0)
            {// 50 / 10 = 5 hz
                MainV2.comPort.sendPacket(gps);
                //Console.WriteLine(DateTime.Now.Millisecond + " GPS" );
            }

            framecount++;
        }