public override void SendToAP(sitl_fdm sitldata)
{
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();
Simudataform Simudata = new Simudataform();
hilstate.time_usec = (UInt64)DateTime.Now.Ticks; // microsec
hilstate.lat = (int)(Simudataform.test_lat * 1e7); // * 1E7 修改为Home经纬度、高度
hilstate.lon = (int)(Simudataform.test_lon * 1e7); // * 1E7
hilstate.alt = (int)(Simudataform.test_alt * 1000); // mm
// Console.WriteLine(hilstate.alt);
hilstate.rollspeed = Simudataform.test_wind_speed; // (rad/s) 修改为风速
hilstate.pitchspeed = Simudataform.test_wind_direction; // (rad/s) 修改为风向
hilstate.yawspeed = Simudataform.test_wind_turbulance; // (rad/s) 修改为风的扰动
hilstate.roll = Simudataform.test_frame_mass; // (rad) 修改为机身质量
hilstate.pitch = Simudataform.test_frame_height; // (rad) 修改为机身高度
hilstate.yaw = (float)(sitldata.yawDeg * MathHelper.deg2rad); // (rad)
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)
MainV2.comPort.sendPacket(hilstate, MainV2.comPort.sysidcurrent, MainV2.comPort.compidcurrent);
MainV2.comPort.sendPacket(new MAVLink.mavlink_vfr_hud_t()
{
airspeed = (float)sitldata.airspeed
}, MainV2.comPort.sysidcurrent, MainV2.comPort.compidcurrent);
}
public override void SendToAP(sitl_fdm sitldata)
{
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)
MainV2.comPort.sendPacket(hilstate);
MainV2.comPort.sendPacket(new MAVLink.mavlink_vfr_hud_t()
{
airspeed = (float)sitldata.airspeed
});
}
/// <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);
}
private void processArduPilot()
{
bool heli = CHK_heli.Checked;
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)
{
double[] m = new double[4]; // 11
for (int a = 0; a < m.Length; a++)
m[a] = 0;
m[0] = (ushort)MainV2.comPort.MAV.cs.ch1out;
m[1] = (ushort)MainV2.comPort.MAV.cs.ch2out;
m[2] = (ushort)MainV2.comPort.MAV.cs.ch3out;
m[3] = (ushort)MainV2.comPort.MAV.cs.ch4out;
if (!RAD_softFlightGear.Checked)
{
lastfdmdata.latitude = DATA[20][0] * deg2rad;
lastfdmdata.longitude = DATA[20][1] * deg2rad;
lastfdmdata.altitude = (DATA[20][2]);
lastfdmdata.version = 999;
}
try
{
if (lastfdmdata.version == 0)
return;
quad.update(ref m, lastfdmdata);
Vector3 earth_rates = Utils.BodyRatesToEarthRates(quad.dcm, quad.gyro);
quad.dcm.to_euler(ref quad.roll, ref quad.pitch, ref quad.yaw);
//quad.dcm.to_euler(ref roll, ref pitch, ref yaw);
if (chkSITL.Checked)
{
sitl_fdm sitldata = new sitl_fdm();
sitldata.latitude = quad.latitude;
sitldata.longitude = quad.longitude;
sitldata.altitude = quad.altitude;
sitldata.heading = quad.yaw;
sitldata.speedN = quad.velocity.x;
sitldata.speedE = quad.velocity.y;
sitldata.speedD = quad.velocity.z;
sitldata.xAccel = quad.accelerometer.x;
sitldata.yAccel = quad.accelerometer.y;
sitldata.zAccel = quad.accelerometer.z;
sitldata.rollDeg = quad.roll * rad2deg;
sitldata.pitchDeg = quad.pitch * rad2deg;
sitldata.yawDeg = quad.yaw * rad2deg;
sitldata.rollRate = earth_rates.x * rad2deg;
sitldata.pitchRate = earth_rates.y * rad2deg;
sitldata.yawRate = earth_rates.z * rad2deg;
sitldata.airspeed = ((float)Math.Sqrt((sitldata.speedN * sitldata.speedN) + (sitldata.speedE * sitldata.speedE))); ;
sitldata.magic = (int)0x4c56414f;
byte[] sendme = StructureToByteArray(sitldata);
SITLSEND.Send(sendme, sendme.Length);
byte[] rcreceiver = new byte[2 * 8];
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)MainV2.comPort.MAV.cs.rcoverridech1), 0, rcreceiver, 0, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)MainV2.comPort.MAV.cs.rcoverridech2), 0, rcreceiver, 2, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)MainV2.comPort.MAV.cs.rcoverridech3), 0, rcreceiver, 4, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)MainV2.comPort.MAV.cs.rcoverridech4), 0, rcreceiver, 6, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)1505), 0, rcreceiver, 8, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)1506), 0, rcreceiver, 10, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)1507), 0, rcreceiver, 12, 2);
Array.ConstrainedCopy(BitConverter.GetBytes((ushort)1508), 0, rcreceiver, 14, 2);
SITLSEND.Send(rcreceiver, rcreceiver.Length);
}
else
{
// 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)(quad.latitude * 1e7); // * 1E7
hilstate.lon = (int)(quad.longitude * 1e7); // * 1E7
hilstate.alt = (int)(quad.altitude * 1000); // mm
quad.dcm.to_euler(ref quad.roll, ref quad.pitch, ref quad.yaw);
if (double.IsNaN(quad.roll))
{
quad.dcm.identity();
}
hilstate.roll = (float)quad.roll;
hilstate.pitch = (float)quad.pitch;
hilstate.yaw = (float)quad.yaw;
//Vector3 earth_rates2 = Utils.BodyRatesToEarthRates(quad.dcm, quad.gyro);
hilstate.rollspeed = (float)quad.gyro.x;
hilstate.pitchspeed = (float)quad.gyro.y;
hilstate.yawspeed = (float)quad.gyro.z;
//hilstate.rollspeed = (float)earth_rates2.x;
//hilstate.pitchspeed = (float)earth_rates2.y;
//hilstate.yawspeed = (float)earth_rates2.z;
hilstate.vx = (short)(quad.velocity.y * 100); // m/s * 100
hilstate.vy = (short)(quad.velocity.x * 100); // m/s * 100
hilstate.vz = (short)(quad.velocity.z * 100); // m/s * 100
hilstate.xacc = (short)(quad.accelerometer.x * 100); // (mg)
hilstate.yacc = (short)(quad.accelerometer.y * 100); // (mg)
hilstate.zacc = (short)(quad.accelerometer.z * 100); // (mg)
MainV2.comPort.sendPacket(hilstate);
}
}
catch (Exception e) { log.Info("Quad hil error " + e.ToString()); }
byte[] FlightGear = new byte[8 * 11];// StructureToByteArray(fg);
Array.Copy(BitConverter.GetBytes((double)(quad.motor_speed[0])), 0, FlightGear, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.motor_speed[1])), 0, FlightGear, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.motor_speed[2])), 0, FlightGear, 16, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.motor_speed[3])), 0, FlightGear, 24, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.latitude)), 0, FlightGear, 32, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.longitude)), 0, FlightGear, 40, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.altitude * 1 / ft2m)), 0, FlightGear, 48, 8);
Array.Copy(BitConverter.GetBytes((double)((quad.altitude - quad.ground_level) * 1 / ft2m)), 0, FlightGear, 56, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.roll * rad2deg)), 0, FlightGear, 64, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.pitch * rad2deg)), 0, FlightGear, 72, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.yaw * rad2deg)), 0, FlightGear, 80, 8);
if (RAD_softFlightGear.Checked || RAD_softXplanes.Checked)
{
Array.Reverse(FlightGear, 0, 8);
Array.Reverse(FlightGear, 8, 8);
Array.Reverse(FlightGear, 16, 8);
Array.Reverse(FlightGear, 24, 8);
Array.Reverse(FlightGear, 32, 8);
Array.Reverse(FlightGear, 40, 8);
Array.Reverse(FlightGear, 48, 8);
Array.Reverse(FlightGear, 56, 8);
Array.Reverse(FlightGear, 64, 8);
Array.Reverse(FlightGear, 72, 8);
Array.Reverse(FlightGear, 80, 8);
}
try
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
return;
}
float roll_out, pitch_out, throttle_out, rudder_out, collective_out;
collective_out = 0;
if (heli)
{
roll_out = (float)MainV2.comPort.MAV.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.comPort.MAV.cs.hilch2 / pitchgain;
throttle_out = 1;
rudder_out = (float)MainV2.comPort.MAV.cs.hilch4 / -ruddergain;
collective_out = (float)(MainV2.comPort.MAV.cs.hilch3 - 1500) / throttlegain;
}
else
{
roll_out = (float)MainV2.comPort.MAV.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.comPort.MAV.cs.hilch2 / pitchgain;
throttle_out = ((float)MainV2.comPort.MAV.cs.hilch3) / throttlegain;
rudder_out = (float)MainV2.comPort.MAV.cs.hilch4 / ruddergain;
if (RAD_aerosimrc.Checked && CHK_quad.Checked)
{
throttle_out = ((float)MainV2.comPort.MAV.cs.hilch7 / 2 + 5000) / throttlegain;
throttle_out = (float)(MainV2.comPort.MAV.cs.hilch3 - 1100) / throttlegain;
}
}
// Limit min and max
roll_out = Constrain(roll_out, -1, 1);
pitch_out = Constrain(pitch_out, -1, 1);
rudder_out = Constrain(rudder_out, -1, 1);
throttle_out = Constrain(throttle_out, 0, 1);
try
{
if (displayfull)
{
// This updates the servo graphs
double time = (Environment.TickCount - tickStart) / 1000.0;
if (CHKgraphroll.Checked)
{
list.Add(time, roll_out);
}
else { list.Clear(); }
if (CHKgraphpitch.Checked)
{
list2.Add(time, pitch_out);
}
else { list2.Clear(); }
if (CHKgraphrudder.Checked)
{
list3.Add(time, rudder_out);
}
else { list3.Clear(); }
if (CHKgraphthrottle.Checked)
{
if (heli)
{
list4.Add(time, collective_out);
}
else
{
list4.Add(time, throttle_out);
}
}
else { list4.Clear(); }
}
if (packetssent % 10 == 0) // reduce cpu usage
{
if (RAD_softXplanes.Checked)
{
bool xplane9 = !CHK_xplane10.Checked;
if (xplane9)
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
}
else
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[17][1] * deg2rad, DATA[17][0] * deg2rad, DATA[18][2] * deg2rad, DATA[17][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
}
}
if (RAD_softFlightGear.Checked || RAD_JSBSim.Checked)
{
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, roll_out, pitch_out, rudder_out, throttle_out);
}
if (RAD_aerosimrc.Checked)
{
if (heli)
updateScreenDisplay(aeroin.Model_fLatitude * deg2rad, aeroin.Model_fLongitude * deg2rad, aeroin.Model_fPosZ, aeroin.Model_fRoll, aeroin.Model_fPitch, aeroin.Model_fHeading, aeroin.Model_fHeading, roll_out, pitch_out, rudder_out, collective_out);
else
updateScreenDisplay(aeroin.Model_fLatitude * deg2rad, aeroin.Model_fLongitude * deg2rad, aeroin.Model_fPosZ, aeroin.Model_fRoll, aeroin.Model_fPitch, aeroin.Model_fHeading, aeroin.Model_fHeading, roll_out, pitch_out, rudder_out, throttle_out);
}
}
}
catch (Exception e) { log.Info("Error updateing screen stuff " + e.ToString()); }
packetssent++;
if (RAD_aerosimrc.Checked)
{
//AeroSimRC
byte[] AeroSimRC = new byte[4 * 8];// StructureToByteArray(fg);
Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
Array.Copy(BitConverter.GetBytes((double)((throttle_out * 2) - 1)), 0, AeroSimRC, 24, 8);
if (heli)
{
Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
}
if (CHK_quad.Checked)
{
//MainV2.comPort.MAV.cs.ch1out = 1100;
//MainV2.comPort.MAV.cs.ch2out = 1100;
//MainV2.comPort.MAV.cs.ch3out = 1100;
//MainV2.comPort.MAV.cs.ch4out = 1100;
//ac
// 3 front
// 1 left
// 4 back
// 2 left
// Array.Copy(BitConverter.GetBytes((double)((MainV2.comPort.MAV.cs.ch3out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 0, 8); // motor 1 = front
// Array.Copy(BitConverter.GetBytes((double)((MainV2.comPort.MAV.cs.ch1out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 8, 8); // motor 2 = right
// Array.Copy(BitConverter.GetBytes((double)((MainV2.comPort.MAV.cs.ch4out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 16, 8);// motor 3 = back
// Array.Copy(BitConverter.GetBytes((double)((MainV2.comPort.MAV.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left
}
else
{
}
try
{
SimulatorRECV.SendTo(AeroSimRC, Remote);
}
catch { }
}
//JSBSim
if (RAD_JSBSim.Checked)
{
roll_out = Constrain(roll_out * REV_roll, -1f, 1f);
pitch_out = Constrain(-pitch_out * REV_pitch, -1f, 1f);
rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f);
throttle_out = Constrain(throttle_out, -0.0f, 1f);
string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n", roll_out, pitch_out, rudder_out, throttle_out);
//Console.Write(cmd);
byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
JSBSimSEND.Client.Send(data);
}
// Flightgear
if (RAD_softFlightGear.Checked)
{
//if (packetssent % 2 == 0) { return; } // short supply buffer.. seems to reduce lag
byte[] FlightGear = new byte[4 * 8];// StructureToByteArray(fg);
Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, FlightGear, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, FlightGear, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, FlightGear, 16, 8);
Array.Copy(BitConverter.GetBytes((double)(throttle_out)), 0, FlightGear, 24, 8);
Array.Reverse(FlightGear, 0, 8);
Array.Reverse(FlightGear, 8, 8);
Array.Reverse(FlightGear, 16, 8);
Array.Reverse(FlightGear, 24, 8);
try
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
}
// Xplanes
if (RAD_softXplanes.Checked)
{
// sending only 1 packet instead of many.
byte[] Xplane = new byte[5 + 36 + 36];
if (heli)
{
Xplane = new byte[5 + 36 + 36 + 36];
}
Xplane[0] = (byte)'D';
Xplane[1] = (byte)'A';
Xplane[2] = (byte)'T';
Xplane[3] = (byte)'A';
Xplane[4] = 0;
Array.Copy(BitConverter.GetBytes((int)25), 0, Xplane, 5, 4); // packet index
Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 9, 4); // start data
Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 13, 4);
Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 17, 4);
Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 21, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 25, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 29, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 33, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 37, 4);
// NEXT ONE - control surfaces
Array.Copy(BitConverter.GetBytes((int)11), 0, Xplane, 41, 4); // packet index
Array.Copy(BitConverter.GetBytes((float)(pitch_out * REV_pitch)), 0, Xplane, 45, 4); // start data
Array.Copy(BitConverter.GetBytes((float)(roll_out * REV_roll)), 0, Xplane, 49, 4);
Array.Copy(BitConverter.GetBytes((float)(rudder_out * REV_rudder)), 0, Xplane, 53, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 57, 4);
Array.Copy(BitConverter.GetBytes((float)(roll_out * REV_roll * 0.5)), 0, Xplane, 61, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 65, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 69, 4);
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 73, 4);
if (heli)
{
Array.Copy(BitConverter.GetBytes((float)(0)), 0, Xplane, 53, 4);
int a = 73 + 4;
Array.Copy(BitConverter.GetBytes((int)39), 0, Xplane, a, 4); // packet index
a += 4;
Array.Copy(BitConverter.GetBytes((float)(12 * collective_out)), 0, Xplane, a, 4); // main rotor 0 - 12
a += 4;
Array.Copy(BitConverter.GetBytes((float)(12 * rudder_out)), 0, Xplane, a, 4); // tail rotor -12 - 12
a += 4;
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, a, 4);
a += 4;
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, a, 4);
a += 4;
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, a, 4);
a += 4;
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, a, 4);
a += 4;
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, a, 4);
a += 4;
Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, a, 4);
}
try
{
XplanesSEND.Send(Xplane, Xplane.Length);
}
catch (Exception e) { log.Info("Xplanes udp send error " + e.Message); }
}
}
public override void GetFromSim(ref sitl_fdm sitldata)
{
if (SimulatorRECV.Available > 0)
{
byte[] udpdata = new byte[1500];
int receviedbytes = 0;
try
{
while (SimulatorRECV.Available > 0)
{
receviedbytes = SimulatorRECV.ReceiveFrom(udpdata, ref Remote);
}
}
catch { }
if (udpdata[0] == 'D' && udpdata[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(udpdata, count);
DATA[index] = new float[8];
DATA[index][0] = BitConverter.ToSingle(udpdata, count + 1 * 4); ;
DATA[index][1] = BitConverter.ToSingle(udpdata, count + 2 * 4); ;
DATA[index][2] = BitConverter.ToSingle(udpdata, count + 3 * 4); ;
DATA[index][3] = BitConverter.ToSingle(udpdata, count + 4 * 4); ;
DATA[index][4] = BitConverter.ToSingle(udpdata, count + 5 * 4); ;
DATA[index][5] = BitConverter.ToSingle(udpdata, count + 6 * 4); ;
DATA[index][6] = BitConverter.ToSingle(udpdata, count + 7 * 4); ;
DATA[index][7] = BitConverter.ToSingle(udpdata, count + 8 * 4); ;
count += 36; // 8 * float
}
bool xplane9 = !xplane10;
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);
}
}
}
public override void SendToAP(sitl_fdm sitldata)
{
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)
MainV2.comPort.sendPacket(hilstate);
MainV2.comPort.sendPacket(new MAVLink.mavlink_vfr_hud_t()
{
airspeed = (float)sitldata.airspeed
});
}
public abstract void SendToAP(sitl_fdm data);
public abstract void GetFromSim(ref sitl_fdm data);
public override void GetFromSim(ref sitl_fdm sitldata)
{
if (SimulatorRECV.Available > 0)
{
byte[] udpdata = new byte[1500];
int receviedbytes = 0;
try
{
while (SimulatorRECV.Available > 0)
{
receviedbytes = SimulatorRECV.ReceiveFrom(udpdata, ref Remote);
}
}
catch { }
if (udpdata[0] == 'D' && udpdata[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(udpdata, count);
DATA[index] = new float[8];
DATA[index][0] = BitConverter.ToSingle(udpdata, count + 1 * 4);;
DATA[index][1] = BitConverter.ToSingle(udpdata, count + 2 * 4);;
DATA[index][2] = BitConverter.ToSingle(udpdata, count + 3 * 4);;
DATA[index][3] = BitConverter.ToSingle(udpdata, count + 4 * 4);;
DATA[index][4] = BitConverter.ToSingle(udpdata, count + 5 * 4);;
DATA[index][5] = BitConverter.ToSingle(udpdata, count + 6 * 4);;
DATA[index][6] = BitConverter.ToSingle(udpdata, count + 7 * 4);;
DATA[index][7] = BitConverter.ToSingle(udpdata, count + 8 * 4);;
count += 36; // 8 * float
}
bool xplane9 = !xplane10;
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);
}
}
}
/// <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 abstract void SendToAP(sitl_fdm data);
public abstract void GetFromSim(ref sitl_fdm data);
