private void ConnectComPort_Click(object sender, EventArgs e)
{
if (threadrun == 0)
{
OutputLog.Clear();
if (MainV2.comPort.BaseStream.IsOpen == false)
{
// CustomMessageBox.Show("Please connect first");
// return;
}
try
{
// reset/create
lastfdmdata = new FGNetFDM();
if (RAD_JSBSim.Checked)
{
simPort = 5124;
recvPort = 5123;
}
SetupUDPRecv();
if (RAD_softXplanes.Checked)
{
SetupUDPXplanes();
SetupUDPMavLink();
}
else
{
SetupUDPXplanes(); // fg udp style
SetupUDPMavLink(); // pass traffic - raw
}
OutputLog.AppendText("Sim Link Started\n");
}
catch (Exception ex)
{
OutputLog.AppendText("Socket setup problem. Do you have this open already? " + ex);
}
// set to highest to try prevent any timer issues
var t11 = new Thread(mainloop)
{
Name = "Main simu Serial/UDP listener",
IsBackground = true,
Priority = ThreadPriority.Lowest
};
t11.Start();
timer_servo_graph.Start();
}
else
{
timer_servo_graph.Stop();
threadrun = 0;
if (JSBSimSEND != null && JSBSimSEND.Connected)
{
try
{
JSBSimSEND.Client.Send(Encoding.ASCII.GetBytes("\n\nexit\n"));
}
catch
{
}
}
if (SimulatorRECV != null)
SimulatorRECV.Close();
if (SimulatorRECV != null && SimulatorRECV.Connected)
SimulatorRECV.Disconnect(true);
if (SITLRCRECV != null)
SITLRCRECV.Close();
if (MavLink != null)
MavLink.Close();
position.Clear();
if (XplanesSEND != null)
XplanesSEND.Close();
// if (comPort.BaseStream.IsOpen)
// comPort.stopall(true);
OutputLog.AppendText("Sim Link Stopped\n");
Thread.Sleep(1000);
Application.DoEvents();
}
}
/// <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);
}
/// <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, ArdupilotMega.MAVLink 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]);
}
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]);
}
sitldata.airspeed = ((DATA[3][5] * .44704));
sitldata.latitude = (DATA[20][0]);
sitldata.longitude = (DATA[20][1]);
sitldata.altitude = (DATA[20][2] * ft2m);
sitldata.speedN = DATA[21][3];// (DATA[3][7] * 0.44704 * Math.Sin(sitldata.heading * deg2rad));
sitldata.speedE = -DATA[21][5];// (DATA[3][7] * 0.44704 * Math.Cos(sitldata.heading * deg2rad));
Matrix3 dcm = new Matrix3();
dcm.from_euler(sitldata.rollDeg * deg2rad, sitldata.pitchDeg * deg2rad, sitldata.yawDeg * deg2rad);
// rad = tas^2 / (tan(angle) * G)
float turnrad = (float)(((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704)) / (float)(9.8f * 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, -9.8));
Vector3 centrip_accel = new Vector3(0, centripaccel * Math.Cos(sitldata.rollDeg * deg2rad), centripaccel * Math.Sin(sitldata.rollDeg * deg2rad));
accel_body -= centrip_accel;
sitldata.xAccel = DATA[4][5] * 9.8;
sitldata.yAccel = DATA[4][6] * 9.8;
sitldata.zAccel = (0 - DATA[4][4]) * 9.8;
// 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;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
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;
#if MAVLINK10
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);
#else
gps.alt = ((float)(imudata2.altitude * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)Math.Atan2(imudata2.velocityE, imudata2.velocityN) * rad2deg);
gps.lat = ((float)imudata2.latitude);
gps.lon = ((float)imudata2.longitude);
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((imudata2.velocityN * imudata2.velocityN) + (imudata2.velocityE * imudata2.velocityE)) * ft2m);
#endif
//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
{
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;
sitldata.xAccel = aeroin.Model_fAccel_Body_X; // pitch
sitldata.yAccel = aeroin.Model_fAccel_Body_Y; // roll
sitldata.zAccel = aeroin.Model_fAccel_Body_Z;
// YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(att.roll, att.pitch, 0, -9.8); //DATA[18][2]
sitldata.altitude = aeroin.Model_fPosZ;
sitldata.latitude = aeroin.Model_fLatitude;
sitldata.longitude = aeroin.Model_fLongitude;
sitldata.speedN = aeroin.Model_fVelX;
sitldata.speedE = aeroin.Model_fVelY;
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.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.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.altitude = (fdm.altitude);
sitldata.latitude = (fdm.latitude * rad2deg);
sitldata.longitude = (fdm.longitude * rad2deg);
sitldata.speedN = fdm.v_east * ft2m;
sitldata.speedE = fdm.v_north * ft2m;
sitldata.airspeed = fdm.vcas * 0.5144444f;// knots to m/s
if (RAD_JSBSim.Checked)
sitldata.airspeed = fdm.vcas * 0.3048f;// fps to m/s
}
else
{
log.Info("Bad Udp Packet " + receviedbytes);
return;
}
// write arduimu to ardupilot
if (CHK_quad.Checked && !RAD_aerosimrc.Checked) // quad does its own
{
return;
}
if (RAD_JSBSim.Checked && chkSensor.Checked)
{
byte[] buffer = new byte[1500];
while (JSBSimSEND.Client.Available > 5)
{
int read = JSBSimSEND.Client.Receive(buffer);
}
byte[] sitlout = new byte[16 * 8 + 1 * 4]; // 16 * double + 1 * int
int a = 0;
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.latitude * rad2deg), a, sitlout, a, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.longitude * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.altitude), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.v_north * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.v_east * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_X_pilot * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_Y_pilot * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_Z_pilot * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.phidot * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.thetadot * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psidot * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.phi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.theta * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas * ft2m), 0, sitlout, a += 8, 8);
// Console.WriteLine(lastfdmdata.theta);
Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4);
SITLSEND.Send(sitlout, sitlout.Length);
return;
}
if (RAD_softXplanes.Checked && chkSensor.Checked)
{
sitldata.magic = (int)0x4c56414e;
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();
hilstate.time_usec = (UInt64)DateTime.Now.Ticks; // 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);
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
hilstate.vy = (short)(sitldata.speedE * 100); // m/s * 100
hilstate.vz = 0; // m/s * 100
hilstate.xacc = (short)(sitldata.xAccel * 1000); // (mg)
hilstate.yacc = (short)(sitldata.yAccel * 1000); // (mg)
hilstate.zacc = (short)(sitldata.zAccel * 1000); // (mg)
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);
}
public void update(ref double[] servos, FGNetFDM fdm)
{
for (int i = 0; i < servos.Length; i++)
{
var servo = servos[(int) self.motors[i].servo];
if (servo <= 0.0)
{
motor_speed[i] = 0;
}
else
{
motor_speed[i] = scale_rc(i, (float) servo, 0.0f, 1.0f);
//servos[i] = motor_speed[i];
}
}
double[] m = motor_speed;
//# how much time has passed?
//DateTime t = DateTime.Now;
//TimeSpan delta_time = t - last_time; // 0.02
//last_time = t;
// run at 1000hz lockstep
TimeSpan delta_time = new TimeSpan(0, 0, 0, 0, 1);
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
Vector3 rot_accel = new Vector3(0, 0, 0);
double thrust = 0.0;
foreach (var i in range((self.motors.Length)))
{
rot_accel.x += -radians(5000.0)*sin(radians(self.motors[i].angle))*m[i];
rot_accel.y += radians(5000.0)*cos(radians(self.motors[i].angle))*m[i];
if (!self.motors[i].clockwise)
{
rot_accel.z -= m[i]*radians(400.0);
}
else
{
rot_accel.z += m[i]*radians(400.0);
}
thrust += m[i]*self.thrust_scale; // newtons
}
//Console.WriteLine("rot_accel " + rot_accel.ToString());
// rotational air resistance
rot_accel.x -= self.gyro.x*radians(5000.0)/self.terminal_rotation_rate;
rot_accel.y -= self.gyro.y*radians(5000.0)/self.terminal_rotation_rate;
rot_accel.z -= self.gyro.z*radians(400.0)/self.terminal_rotation_rate;
// Console.WriteLine("rot_accel " + rot_accel.ToString());
// update rotational rates in body frame
self.gyro += rot_accel*delta_time.TotalSeconds;
// Console.WriteLine("gyro " + gyro.ToString());
// update attitude
self.dcm.rotate(self.gyro*delta_time.TotalSeconds);
self.dcm.normalize();
// air resistance
Vector3 air_resistance = -self.velocity*(self.gravity/self.terminal_velocity);
accel_body = new Vector3(0, 0, -thrust/self.mass);
Vector3 accel_earth = self.dcm*accel_body;
accel_earth += new Vector3(0, 0, self.gravity);
accel_earth += air_resistance;
// add in some wind (turn force into accel by dividing by mass).
// accel_earth += self.wind.drag(self.velocity) / self.mass;
// if we're on the ground, then our vertical acceleration is limited
// to zero. This effectively adds the force of the ground on the aircraft
if (self.on_ground() && accel_earth.z > 0)
accel_earth.z = 0;
// work out acceleration as seen by the accelerometers. It sees the kinematic
// acceleration (ie. real movement), plus gravity
self.accel_body = self.dcm.transposed()*(accel_earth + new Vector3(0, 0, -self.gravity));
// new velocity vector
self.velocity += accel_earth*delta_time.TotalSeconds;
if (double.IsNaN(velocity.x) || double.IsNaN(velocity.y) || double.IsNaN(velocity.z))
velocity = new Vector3();
// new position vector
old_position = self.position.copy();
self.position += self.velocity*delta_time.TotalSeconds;
if (home_latitude == 0)
{
home_latitude = fdm.latitude*rad2deg;
home_longitude = fdm.longitude*rad2deg;
home_altitude = fdm.altitude;
ground_level = home_altitude;
}
// constrain height to the ground
if (self.on_ground())
{
if (!self.on_ground(old_position))
Console.WriteLine("Hit ground at {0} m/s", (self.velocity.z));
self.velocity = new Vector3(0, 0, 0);
// zero roll/pitch, but keep yaw
double r = 0;
double p = 0;
double y = 0;
self.dcm.to_euler(ref r, ref p, ref y);
self.dcm.from_euler(0, 0, y);
self.position = new Vector3(self.position.x, self.position.y,
-(self.ground_level + self.frame_height - self.home_altitude));
}
// update lat/lon/altitude
self.update_position();
}
public void update(ref double[] servos, FGNetFDM fdm)
{
for (int i = 0; i < servos.Length; i++)
{
var servo = servos[(int)self.motors[i].servo];
if (servo <= 0.0)
{
motor_speed[i] = 0;
}
else
{
motor_speed[i] = scale_rc(i, (float)servo, 0.0f, 1.0f);
//servos[i] = motor_speed[i];
}
}
double[] m = motor_speed;
//# how much time has passed?
//DateTime t = DateTime.Now;
//TimeSpan delta_time = t - last_time; // 0.02
//last_time = t;
// run at 1000hz lockstep
TimeSpan delta_time = new TimeSpan(0, 0, 0, 0, 1);
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
Vector3 rot_accel = new Vector3(0, 0, 0);
double thrust = 0.0;
foreach (var i in range((self.motors.Length)))
{
rot_accel.x += -radians(5000.0) * sin(radians(self.motors[i].angle)) * m[i];
rot_accel.y += radians(5000.0) * cos(radians(self.motors[i].angle)) * m[i];
if (!self.motors[i].clockwise)
{
rot_accel.z -= m[i] * radians(400.0);
}
else
{
rot_accel.z += m[i] * radians(400.0);
}
thrust += m[i] * self.thrust_scale; // newtons
}
//Console.WriteLine("rot_accel " + rot_accel.ToString());
// rotational air resistance
rot_accel.x -= self.gyro.x * radians(5000.0) / self.terminal_rotation_rate;
rot_accel.y -= self.gyro.y * radians(5000.0) / self.terminal_rotation_rate;
rot_accel.z -= self.gyro.z * radians(400.0) / self.terminal_rotation_rate;
// Console.WriteLine("rot_accel " + rot_accel.ToString());
// update rotational rates in body frame
self.gyro += rot_accel * delta_time.TotalSeconds;
// Console.WriteLine("gyro " + gyro.ToString());
// update attitude
self.dcm.rotate(self.gyro * delta_time.TotalSeconds);
self.dcm.normalize();
// air resistance
Vector3 air_resistance = -self.velocity * (self.gravity / self.terminal_velocity);
accel_body = new Vector3(0, 0, -thrust / self.mass);
Vector3 accel_earth = self.dcm * accel_body;
accel_earth += new Vector3(0, 0, self.gravity);
accel_earth += air_resistance;
// add in some wind (turn force into accel by dividing by mass).
// accel_earth += self.wind.drag(self.velocity) / self.mass;
// if we're on the ground, then our vertical acceleration is limited
// to zero. This effectively adds the force of the ground on the aircraft
if (self.on_ground() && accel_earth.z > 0)
{
accel_earth.z = 0;
}
// work out acceleration as seen by the accelerometers. It sees the kinematic
// acceleration (ie. real movement), plus gravity
self.accel_body = self.dcm.transposed() * (accel_earth + new Vector3(0, 0, -self.gravity));
// new velocity vector
self.velocity += accel_earth * delta_time.TotalSeconds;
if (double.IsNaN(velocity.x) || double.IsNaN(velocity.y) || double.IsNaN(velocity.z))
{
velocity = new Vector3();
}
// new position vector
old_position = self.position.copy();
self.position += self.velocity * delta_time.TotalSeconds;
if (home_latitude == 0)
{
home_latitude = fdm.latitude * rad2deg;
home_longitude = fdm.longitude * rad2deg;
home_altitude = fdm.altitude;
ground_level = home_altitude;
}
// constrain height to the ground
if (self.on_ground())
{
if (!self.on_ground(old_position))
{
Console.WriteLine("Hit ground at {0} m/s", (self.velocity.z));
}
self.velocity = new Vector3(0, 0, 0);
// zero roll/pitch, but keep yaw
double r = 0;
double p = 0;
double y = 0;
self.dcm.to_euler(ref r, ref p, ref y);
self.dcm.from_euler(0, 0, y);
self.position = new Vector3(self.position.x, self.position.y,
-(self.ground_level + self.frame_height - self.home_altitude));
}
// update lat/lon/altitude
self.update_position();
}
private void ConnectComPort_Click(object sender, EventArgs e)
{
if (threadrun == 0)
{
OutputLog.Clear();
if (MainV2.comPort.BaseStream.IsOpen == false)
{
// CustomMessageBox.Show("Please connect first");
// return;
}
try
{
// reset/create
lastfdmdata = new FGNetFDM();
quad = new HIL.MultiCopter();
if (RAD_JSBSim.Checked)
{
simPort = 5124;
recvPort = 5123;
}
SetupUDPRecv();
if (chkSITL.Checked)
{
SITLRCRECV = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
SITLRCRECV.Bind(new IPEndPoint(IPAddress.Any, 5502));
OutputLog.AppendText("SITL rc from " + SITLIP + " port " + 5502 + " \n");
SITLSEND = new UdpClient(SITLIP, 5501);
OutputLog.AppendText("SITL to " + SITLIP + " port " + 5501 + " \n");
}
if (RAD_softXplanes.Checked)
{
SetupUDPXplanes();
SetupUDPMavLink();
}
else
{
if (RAD_JSBSim.Checked)
{
System.Diagnostics.ProcessStartInfo _procstartinfo = new System.Diagnostics.ProcessStartInfo();
_procstartinfo.WorkingDirectory = Path.GetDirectoryName(Application.ExecutablePath);
_procstartinfo.Arguments = "--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=jsbsim/rascal_test.xml";
_procstartinfo.FileName = "JSBSim.exe";
// Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar +
_procstartinfo.UseShellExecute = true;
//_procstartinfo.RedirectStandardOutput = true;
System.Diagnostics.Process.Start(_procstartinfo);
System.Threading.Thread.Sleep(2000);
SetupTcpJSBSim();
}
SetupUDPXplanes(); // fg udp style
SetupUDPMavLink(); // pass traffic - raw
}
OutputLog.AppendText("Sim Link Started\n");
}
catch (Exception ex) { OutputLog.AppendText("Socket setup problem. Do you have this open already? " + ex.ToString()); }
// set to highest to try prevent any timer issues
System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
Name = "Main simu Serial/UDP listener",
IsBackground = true,
Priority = System.Threading.ThreadPriority.Lowest
};
t11.Start();
timer_servo_graph.Start();
}
else
{
timer_servo_graph.Stop();
threadrun = 0;
if (JSBSimSEND != null && JSBSimSEND.Connected)
{
try
{
JSBSimSEND.Client.Send(ASCIIEncoding.ASCII.GetBytes("\n\nexit\n"));
}
catch { }
}
if (SimulatorRECV != null)
SimulatorRECV.Close();
if (SimulatorRECV != null && SimulatorRECV.Connected)
SimulatorRECV.Disconnect(true);
if (SITLRCRECV != null)
SITLRCRECV.Close();
if (MavLink != null)
MavLink.Close();
position.Clear();
if (XplanesSEND != null)
XplanesSEND.Close();
// if (comPort.BaseStream.IsOpen)
// comPort.stopall(true);
OutputLog.AppendText("Sim Link Stopped\n");
System.Threading.Thread.Sleep(1000);
Application.DoEvents();
}
}
/// <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, ArdupilotMega.MAVLink comPort)
{
#if MAVLINK10
ArdupilotMega.MAVLink.__mavlink_hil_state_t hilstate = new ArdupilotMega.MAVLink.__mavlink_hil_state_t();
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_raw_imu_t imu = new ArdupilotMega.MAVLink.__mavlink_raw_imu_t();
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();
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
}
att.pitch = (DATA[18][0] * deg2rad);
att.roll = (DATA[18][1] * deg2rad);
att.yaw = (DATA[18][2] * deg2rad);
att.pitchspeed = (DATA[17][0]);
att.rollspeed = (DATA[17][1]);
att.yawspeed = (DATA[17][2]);
TimeSpan timediff = DateTime.Now - oldtime;
float pdiff = (float)((att.pitch - oldatt.pitch) / timediff.TotalSeconds);
float rdiff = (float)((att.roll - oldatt.roll) / timediff.TotalSeconds);
float ydiff = (float)((att.yaw - oldatt.yaw) / timediff.TotalSeconds);
//Console.WriteLine("{0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", pdiff, rdiff, ydiff, DATA[17][0], DATA[17][1], DATA[17][2]);
oldatt = att;
rdiff = DATA[17][1];
pdiff = DATA[17][0];
ydiff = DATA[17][2];
Int16 xgyro = Constrain(rdiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 ygyro = Constrain(pdiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 zgyro = Constrain(ydiff * 1000.0, Int16.MinValue, Int16.MaxValue);
oldtime = DateTime.Now;
YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(DATA[18][1], DATA[18][0], 0, -9.8); //DATA[18][2]
float turnrad = (float)(((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704) * 1.943844) / (float)(11.26 * Math.Tan(att.roll))) * ft2m;
float centripaccel = (float)((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704)) / turnrad;
//Console.WriteLine("old {0} {1} {2}",accel3D.X,accel3D.Y,accel3D.Z);
YLScsDrawing.Drawing3d.Vector3d cent3D = HIL.QuadCopter.RPY_to_XYZ(DATA[18][1] - 90, 0, 0, centripaccel);
accel3D -= cent3D;
//Console.WriteLine("new {0} {1} {2}", accel3D.X, accel3D.Y, accel3D.Z);
oldax = DATA[4][5];
olday = DATA[4][6];
oldaz = DATA[4][4];
double head = DATA[18][2] - 90;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = xgyro; // roll - yes
imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = ygyro; // pitch - yes
imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = zgyro;
imu.zmag = 0;
imu.xacc = (Int16)(accel3D.X * 1000); // pitch
imu.yacc = (Int16)(accel3D.Y * 1000); // roll
imu.zacc = (Int16)(accel3D.Z * 1000);
//Console.WriteLine("ax " + imu.xacc + " ay " + imu.yacc + " az " + imu.zacc);
#if MAVLINK10
gps.alt = (int)(DATA[20][2] * ft2m * 1000);
gps.fix_type = 3;
gps.cog = (ushort)(DATA[19][2] * 100);
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
gps.time_usec = ((ulong)0);
gps.vel = (ushort)(DATA[3][7] * 0.44704 * 100);
#else
gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)DATA[19][2]);
gps.lat = ((float)DATA[20][0]);
gps.lon = ((float)DATA[20][1]);
gps.usec = ((ulong)0);
gps.v = ((float)(DATA[3][7] * 0.44704));
#endif
asp.airspeed = ((float)(DATA[3][6] * 0.44704));
}
else if (receviedbytes == 0x64) // FG binary udp
{
//FlightGear
object imudata = new fgIMUData();
MAVLink.ByteArrayToStructureEndian(data, ref imudata, 0);
imudata = (fgIMUData)(imudata);
fgIMUData imudata2 = (fgIMUData)imudata;
if (imudata2.magic != 0x4c56414d)
return;
if (imudata2.latitude == 0)
return;
chkSensor.Checked = true;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
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;
#if MAVLINK10
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);
#else
gps.alt = ((float)(imudata2.altitude * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)Math.Atan2(imudata2.velocityE, imudata2.velocityN) * rad2deg);
gps.lat = ((float)imudata2.latitude);
gps.lon = ((float)imudata2.longitude);
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((imudata2.velocityN * imudata2.velocityN) + (imudata2.velocityE * imudata2.velocityE)) * ft2m);
#endif
//FileStream stream = File.OpenWrite("fgdata.txt");
//stream.Write(data, 0, receviedbytes);
//stream.Close();
}
else if (receviedbytes == 582)
{
aeroin = new TDataFromAeroSimRC();
object temp = aeroin;
MAVLink.ByteArrayToStructure(data, ref temp, 0);
aeroin = (TDataFromAeroSimRC)(temp);
att.pitch = (aeroin.Model_fPitch);
att.roll = (aeroin.Model_fRoll * -1);
att.yaw = (float)((aeroin.Model_fHeading));
att.pitchspeed = (aeroin.Model_fAngVelX);
att.rollspeed = (aeroin.Model_fAngVelY);
att.yawspeed = (aeroin.Model_fAngVelZ);
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = (short)(aeroin.Model_fAngVelX * 1000); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(aeroin.Model_fAngVelY * 1000); // pitch - yes
//imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = (short)(aeroin.Model_fAngVelZ * 1000);
//imu.zmag = 0;
YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(att.roll, att.pitch, 0, -9.8); //DATA[18][2]
imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccelX) * 1000); // pitch
imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccelY) * 1000); // roll
imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccelZ) * 1000);
Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
#if MAVLINK10
gps.alt = ((int)(aeroin.Model_fPosZ) * 1000);
gps.fix_type = 3;
gps.cog = (ushort)(Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg * 100);
gps.lat = (int)(aeroin.Model_fLatitude * 1.0e7);
gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)) * 100);
#else
gps.alt = ((float)(aeroin.Model_fPosZ));
gps.fix_type = 3;
gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg);
gps.lat = ((float)aeroin.Model_fLatitude);
gps.lon = ((float)aeroin.Model_fLongitude);
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)));
#endif
float xvec = aeroin.Model_fVelY - aeroin.Model_fWindVelY;
float yvec = aeroin.Model_fVelX - aeroin.Model_fWindVelX;
asp.airspeed = ((float)Math.Sqrt((yvec * yvec) + (xvec * xvec)));
}
else if (receviedbytes > 0x100)
{
FGNetFDM fdm = new FGNetFDM();
object temp = fdm;
MAVLink.ByteArrayToStructureEndian(data, ref temp, 0);
fdm = (FGNetFDM)(temp);
lastfdmdata = fdm;
att.roll = fdm.phi;
att.pitch = fdm.theta;
att.yaw = fdm.psi;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = (short)(fdm.phidot * 1150); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(fdm.thetadot * 1150); // pitch - yes
//imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = (short)(fdm.psidot * 1150);
imu.zmag = 0;
imu.xacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_X_pilot * 9808 / 32.2))); // pitch
imu.yacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_Y_pilot * 9808 / 32.2))); // roll
imu.zacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_Z_pilot / 32.2 * 9808)));
//Console.WriteLine("ax " + imu.xacc + " ay " + imu.yacc + " az " + imu.zacc);
#if MAVLINK10
gps.alt = ((int)(fdm.altitude * ft2m * 1000));
gps.fix_type = 3;
gps.cog = (ushort)((((Math.Atan2(fdm.v_east, fdm.v_north) * rad2deg) + 360) % 360) * 100);
gps.lat = (int)(fdm.latitude * rad2deg * 1.0e7);
gps.lon = (int)(fdm.longitude * rad2deg * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m * 100);
#else
gps.alt = ((float)(fdm.altitude * ft2m));
gps.fix_type = 3;
gps.hdg = (float)(((Math.Atan2(fdm.v_east, fdm.v_north) * rad2deg) + 360) % 360);
//Console.WriteLine(gps.hdg);
gps.lat = ((float)fdm.latitude * rad2deg);
gps.lon = ((float)fdm.longitude * rad2deg);
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m);
#endif
asp.airspeed = fdm.vcas * kts2fps * ft2m;
}
else
{
//FlightGear - old style udp
DATA[20] = new float[8];
DATA[18] = new float[8];
DATA[19] = new float[8];
DATA[3] = new float[8];
// this text line is defined from ardupilot.xml
string telem = Encoding.ASCII.GetString(data, 0, data.Length);
try
{
// should convert this to regex.... or just leave it.
int oldpos = 0;
int pos = telem.IndexOf(",");
DATA[20][0] = float.Parse(telem.Substring(oldpos, pos - 1), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[20][1] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[20][2] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[18][1] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[18][0] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[19][2] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf("\n", pos + 1);
DATA[3][6] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
DATA[3][7] = DATA[3][6];
}
catch (Exception) { }
chkSensor.Checked = false;
att.pitch = (DATA[18][0]);
att.roll = (DATA[18][1]);
att.yaw = (DATA[19][2]);
#if MAVLINK10
gps.alt = ((int)(DATA[20][2] * ft2m * 1000));
gps.fix_type = 3;
gps.cog = (ushort)(DATA[18][2] * 100);
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
gps.time_usec = ((ulong)0);
gps.vel = (ushort)((DATA[3][7] * 0.44704 * 100));
#else
gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)DATA[18][2]);
gps.lat = ((float)DATA[20][0]);
gps.lon = ((float)DATA[20][1]);
gps.usec = ((ulong)0);
gps.v = ((float)(DATA[3][7] * 0.44704));
#endif
asp.airspeed = ((float)(DATA[3][6] * 0.44704));
}
// write arduimu to ardupilot
if (CHK_quad.Checked) // quad does its own
{
return;
}
#if MAVLINK10
TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
if (gpsspan.TotalMilliseconds >= GPS_rate)
{
lastgpsupdate = DateTime.Now;
oldgps = gps;
//comPort.sendPacket(gps);
}
hilstate.alt = oldgps.alt;
hilstate.lat = oldgps.lat;
hilstate.lon = oldgps.lon;
hilstate.pitch = att.pitch;
hilstate.pitchspeed = att.pitchspeed;
hilstate.roll = att.roll;
hilstate.rollspeed = att.rollspeed;
hilstate.time_usec = gps.time_usec;
hilstate.vx = (short)(gps.vel * Math.Sin(oldgps.cog / 100.0 * deg2rad));
hilstate.vy = (short)(gps.vel * Math.Cos(oldgps.cog / 100.0 * deg2rad));
hilstate.vz = 0;
hilstate.xacc = imu.xacc;
hilstate.yacc = imu.yacc;
hilstate.yaw = att.yaw;
hilstate.yawspeed = att.yawspeed;
hilstate.zacc = imu.zacc;
comPort.sendPacket(hilstate);
comPort.sendPacket(asp);
#else
if (chkSensor.Checked == false) // attitude
{
comPort.sendPacket( att);
comPort.sendPacket( asp);
}
else // raw imu
{
// imudata
comPort.sendPacket( imu);
#endif
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)); // updated from valid gps
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
comPort.sendPacket(pres);
#if !MAVLINK10
comPort.sendPacket(asp);
}
TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
if (gpsspan.TotalMilliseconds >= GPS_rate)
{
lastgpsupdate = DateTime.Now;
comPort.sendPacket(gps);
}
#endif
}
