Inheritance: MissionPlanner.HIL.Aircraft
Example #1
0
        public MultiCopter(string frame = "quadx")
        {
            self = this;

            motors       = Motor.build_motors(MAVLink.MAV_TYPE.QUADROTOR, (int)MissionPlanner.GCSViews.ConfigurationView.ConfigFrameType.Frame.Plus);
            motor_speed  = new double[motors.Length];
            mass         = 1.5;// # Kg
            frame_height = 0.1;

            hover_throttle         = 0.51;
            terminal_velocity      = 15.0;
            terminal_rotation_rate = 4 * (360.0 * deg2rad);

            thrust_scale = (mass * gravity) / (motors.Length * hover_throttle);

            last_time = DateTime.Now;
        }
Example #2
0
        public MultiCopter(string frame = "quad")
        {
            self = this;

            motors       = Motor.build_motors(frame);
            motor_speed  = new double[motors.Length];
            mass         = 1.5;// # Kg
            frame_height = 0.1;

            hover_throttle         = 0.45;
            terminal_velocity      = 15.0;
            terminal_rotation_rate = 4 * (360.0 * deg2rad);

            thrust_scale = (mass * gravity) / (motors.Length * hover_throttle);

            last_time = DateTime.Now;
        }
        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
                {
                    quad = new HIL.MultiCopter();

                    if (RAD_JSBSim.Checked)
                    {
                        simPort = 5124;
                        recvPort = 5123;
                    }

                    SetupUDPRecv();

                    if (chkSITL.Checked)
                    {
                        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 (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();
            }
        }
        public MultiCopter(string frame = "quadx")
        {
            self = this;

            motors = Motor.build_motors(frame);
            motor_speed = new double[motors.Length];
            mass = 1.5;// # Kg
            frame_height = 0.1;

            hover_throttle = 0.45;
            terminal_velocity = 15.0;
            terminal_rotation_rate = 4 * (360.0 * deg2rad);

            thrust_scale = (mass * gravity) / (motors.Length * hover_throttle);

            last_time = DateTime.Now;
        }
Example #5
0
        public MultiCopter(string frame = "quadx")
        {
            self = this;

            motors = Motor.build_motors(MAVLink.MAV_TYPE.QUADROTOR, (int)MissionPlanner.GCSViews.ConfigurationView.ConfigFrameType.Frame.Plus);
            motor_speed = new double[motors.Length];
            mass = 1.5;// # Kg
            frame_height = 0.1;

            hover_throttle = 0.51;
            terminal_velocity = 15.0;
            terminal_rotation_rate = 4 * (360.0 * deg2rad);

            thrust_scale = (mass * gravity) / (motors.Length * hover_throttle);

            last_time = DateTime.Now;
        }
Example #6
0
        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 (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.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();
            }
        }