public void update(ref double[] servos, ArdupilotMega.GCSViews.Simulation.FGNetFDM fdm)
{
for (int i = 0; i < servos.Length; i++)
{
var servo = servos[(int)self.motors[i].servo - 1];
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;
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
}
// 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 = 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(delta_time.TotalSeconds);
}
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++;
}
public void update(ref double[] servos, ArdupilotMega.GCSViews.Simulation.FGNetFDM fdm)
{
for (int i = 0; i < servos.Length; i++)
{
var servo = servos[(int)self.motors[i].servo - 1];
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;
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
}
// 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
// accel_earth += self.wind.accel(self.velocity);
// 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 = 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(delta_time.TotalSeconds);
// send to apm
MAVLink.mavlink_hil_state_t hilstate = new MAVLink.mavlink_hil_state_t();
hilstate.time_usec = (UInt64)DateTime.Now.Ticks; // microsec
hilstate.lat = (int)(latitude * 1e7); // * 1E7
hilstate.lon = (int)(longitude * 1e7); // * 1E7
hilstate.alt = (int)(altitude * 1000); // mm
self.dcm.to_euler(ref roll, ref pitch, ref yaw);
if (double.IsNaN(roll))
{
self.dcm.identity();
}
hilstate.roll = (float)roll;
hilstate.pitch = (float)pitch;
hilstate.yaw = (float)yaw;
Vector3 earth_rates = Utils.BodyRatesToEarthRates(dcm, gyro);
hilstate.rollspeed = (float)earth_rates.x;
hilstate.pitchspeed = (float)earth_rates.y;
hilstate.yawspeed = (float)earth_rates.z;
hilstate.vx = (short)(velocity.y * 100); // m/s * 100
hilstate.vy = (short)(velocity.x * 100); // m/s * 100
hilstate.vz = 0; // m/s * 100
hilstate.xacc = (short)(accelerometer.x * 1000); // (mg)
hilstate.yacc = (short)(accelerometer.y * 1000); // (mg)
hilstate.zacc = (short)(accelerometer.z * 1000); // (mg)
MainV2.comPort.sendPacket(hilstate);
}
