private static HelicopterLogSnapshot ParseSample(XmlNode sampleNode)
{
var result = new HelicopterLogSnapshot
{
Estimated = ParsePhysicalHeliState(sampleNode, "Estimated"),
BlindEstimated = ParsePhysicalHeliState(sampleNode, "BlindEstimated"),
True = ParsePhysicalHeliState(sampleNode, "True"),
Time = TimeSpan.FromSeconds(double.Parse(sampleNode.SelectSingleNode("Seconds").InnerText)),
Accelerometer = ParseFRU(sampleNode.SelectSingleNode("Accelerometer")),
GroundAltitude = float.Parse(sampleNode.SelectSingleNode("GroundAltitude").InnerText),
};
var observedNode = sampleNode.SelectSingleNode("Observed");
if (observedNode != null)
result.Observed = ParsePhysicalHeliState(sampleNode, "Observed");
return result;
}
public void Add(HelicopterLogSnapshot snapshot)
{
// GPS observations only occur every 1 second, so ignore Vector3.Zero positions (not 100% safe, but close enough)
// Note uncomment this to add GPS observations to live flight log window
// if (snapshot.Observed.Position != Vector3.Zero)
// AppendLineXZ(_observedGraph, snapshot.Observed.Position);
AppendLineXZ(_estimatedGraph, snapshot.Estimated.Position);
AppendLineXZ(_blindEstimatedGraph, snapshot.BlindEstimated.Position);
AppendLineXZ(_trueGraph, snapshot.True.Position);
double seconds = snapshot.Time.TotalSeconds;
AppendLine(_helicopterHeightGraph, seconds, snapshot.True.Position.Y);
AppendLine(_estimatedHelicopterHeightGraph, seconds, snapshot.Estimated.Position.Y);
AppendLine(_groundHeightGraph, seconds, snapshot.GroundAltitude);
AppendLine(_accelForwardGraph, seconds, snapshot.Accelerometer.Forward);
AppendLine(_accelRightGraph, seconds, snapshot.Accelerometer.Right);
AppendLine(_accelUpGraph, seconds, snapshot.Accelerometer.Up);
AddGraphsToChartsIfNecessary();
// TODO Force area to show 500 samples of width even if we have less than 500 samples to plot
// _heightChart.PlotAreaOverride = new Rect(_heightChart.P);
_positionChart.RedrawPlotLines();
_heightChart.RedrawPlotLines();
_accelerometerChart.RedrawPlotLines();
}
private void AddPlot(HelicopterLogSnapshot snapshot)
{
double seconds = snapshot.Time.TotalSeconds;
// GPS observations only occur every 1 second, so ignore Vector3.Zero positions (not 100% safe, but close enough)
// Note uncomment this to add GPS observations
if (snapshot.Observed.Position != Vector3.Zero)
{
_gpsMarkers.AddPoint(new ChartPoint("",
new Point(snapshot.Observed.Position.X, snapshot.Observed.Position.Z)));
_gpsMarkersAltitude.AddPoint(new ChartPoint("",
new Point(seconds, snapshot.Observed.Position.Y)));
}
AppendLineXZ(_estimatedGraph, snapshot.Estimated.Position);
AppendLineXZ(_blindEstimatedGraph, snapshot.BlindEstimated.Position);
AppendLineXZ(_trueGraph, snapshot.True.Position);
AppendLine(_helicopterHeightGraph, seconds, snapshot.True.Position.Y);
AppendLine(_estimatedHelicopterHeightGraph, seconds, snapshot.Estimated.Position.Y);
AppendLine(_groundHeightGraph, seconds, snapshot.GroundAltitude);
AppendLine(_accelForwardGraph, seconds, snapshot.Accelerometer.Forward);
AppendLine(_accelRightGraph, seconds, snapshot.Accelerometer.Right);
AppendLine(_accelUpGraph, seconds, snapshot.Accelerometer.Up);
}
