public static Vector3d RPY_to_XYZ(double roll, double pitch, double yaw, double length)
{
Vector3d v = new Vector3d(0, 0, length);
v = new_rotate_euler(-deg2rad * (pitch), 0, -deg2rad * (roll)) * v;
v = new_rotate_euler(0, deg2rad * (yaw), 0) * v;
return v;
}
public void FromAxisAngle(Vector3d axis, double angleRadian)
{
double m = axis.Magnitude;
if (m > 0.0001)
{
double ca = Math.Cos(angleRadian / 2);
double sa = Math.Sin(angleRadian / 2);
X = axis.X / m * sa;
Y = axis.Y / m * sa;
Z = axis.Z / m * sa;
W = ca;
}
else
{
W = 1; X = 0; Y = 0; Z = 0;
}
}
public static bool isForeFace(Point3d pt1, Point3d pt2, Point3d pt3) // pts on a plane
{
Vector3d v1 = new Vector3d(pt2, pt1);
Vector3d v2 = new Vector3d(pt2, pt3);
Vector3d v = v1.CrossProduct(v2);
return v.DotProduct(new Vector3d(0, 0, 1)) < 0;
}
public double DotProduct(Vector3d v)
{
return DotProduct(this, v);
}
public Vector3d CrossProduct(Vector3d v)
{
return CrossProduct(this, v);
}
public static double DotProduct(Vector3d v1, Vector3d v2) // A . B = |A|*|B|*cos(angle)
{
return (v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z);
}
// A x B = |A|*|B|*sin(angle), direction follow right-hand rule
public static Vector3d CrossProduct(Vector3d v1, Vector3d v2)
{
return new Vector3d(v1.Y * v2.Z - v1.Z * v2.Y, v1.Z * v2.X - v1.X * v2.Z, v1.X * v2.Y - v1.Y * v2.X);
}
public Vector3d(Vector3d pt)
{
X = pt.X; Y = pt.Y; Z = pt.Z;
}
public static bool isBackFace(Point3d pt1, Point3d pt2, Point3d pt3)
{
Vector3d v1 = new Vector3d(pt2, pt1);
Vector3d v2 = new Vector3d(pt2, pt3);
Vector3d v = v1.CrossProduct(v2);
return v.DotProduct(new Vector3d(0, 0, 1)) > 0;
}
public Point3d(Vector3d v)
{
X = v.X; Y = v.Y; Z = v.Z;
}
public Quaternion(double w, Vector3d v)
{
W = w; X = v.X; Y = v.Y; Z = v.Z;
}
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
double roll_accel = (m[1] - m[0]) * 5000.0;
double pitch_accel = (m[2] - m[3]) * 5000.0;
double yaw_accel = -((m[2] + m[3]) - (m[0] + m[1])) * 400.0;
//Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);
//# update rotational rates
roll_rate += roll_accel * delta_time.TotalSeconds;
pitch_rate += pitch_accel * delta_time.TotalSeconds;
yaw_rate += yaw_accel * delta_time.TotalSeconds;
// Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);
//# 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 thrust = (m[0] + m[1] + m[2] + m[3]) * thrust_scale;//# Newtons
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();
int fixme;
//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 % 12 == 0)
{// 50 / 10 = 5 hz
MainV2.comPort.sendPacket(gps);
//Console.WriteLine(DateTime.Now.Millisecond + " GPS" );
}
framecount++;
}
