public static Matrix3 rotation_df(ATT ATT)
{
//return the current DCM rotation matrix'''
var r = new Matrix3();
r.from_euler(radians(ATT.Roll), radians(ATT.Pitch), radians(ATT.Yaw));
return r;
}
public static double mag_heading_df(MAG_t MAG, ATT_t ATT, double declination = 0, Vector3 ofs = null,
Vector3 diagonals = null, Vector3 offdiagonals = null)
{
if (diagonals == null)
diagonals = Vector3.One;
if (offdiagonals == null)
offdiagonals = Vector3.Zero;
//'''calculate heading from raw magnetometer'''
//if (declination == 0)
//declination = degrees(mavutil.mavfile_global.param('COMPASS_DEC', 0));
var mag = new Vector3(MAG.MagX, MAG.MagY, MAG.MagZ);
if (ofs != null)
{
mag += new Vector3(ofs[0], ofs[1], ofs[2]) - new Vector3(MAG.OfsX, MAG.OfsY, MAG.OfsZ);
diagonals = new Vector3(diagonals[0], diagonals[1], diagonals[2]);
offdiagonals = new Vector3(offdiagonals[0], offdiagonals[1], offdiagonals[2]);
var rot = new Matrix3(new Vector3(diagonals.x, offdiagonals.x, offdiagonals.y),
new Vector3(offdiagonals.x, diagonals.y, offdiagonals.z),
new Vector3(offdiagonals.y, offdiagonals.z, diagonals.z));
mag = rot*mag;
}
//# go via a DCM matrix to match the APM calculation
var dcm_matrix = rotation_df(ATT);
var cos_pitch_sq = 1.0 - (dcm_matrix.c.x*dcm_matrix.c.x);
var headY = mag.y*dcm_matrix.c.z - mag.z*dcm_matrix.c.y;
var headX = mag.x*cos_pitch_sq - dcm_matrix.c.x*(mag.y*dcm_matrix.c.y + mag.z*dcm_matrix.c.z);
var heading = degrees(atan2(-headY, headX)) + declination;
if (heading < 0)
heading += 360;
return heading;
}
public Matrix3(Vector3 a, Vector3 b, Vector3 c)
{
self = this;
this.a = a;
this.b = b;
this.c = c;
}
/// <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);
}
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);
}
}
}
//# Converts a magnitude and angle (radians) to a vector in the xy plane.
public Vector3 toVec(double magnitude, double angle)
{
Vector3 v = new Vector3(magnitude, 0, 0);
Matrix3 m = new Matrix3();
m.from_euler(0, 0, angle);
return m.transposed() * v;
}
public Matrix3()
{
self = this;
self.identity();
}
public void rotate(Vector3 g)
{
// '''rotate the matrix by a given amount on 3 axes'''
Matrix3 temp_matrix = new Matrix3(self.a.copy(), self.b.copy(), self.c.copy());
temp_matrix.a.x = a.y * g.z - a.z * g.y;
temp_matrix.a.y = a.z * g.x - a.x * g.z;
temp_matrix.a.z = a.x * g.y - a.y * g.x;
temp_matrix.b.x = b.y * g.z - b.z * g.y;
temp_matrix.b.y = b.z * g.x - b.x * g.z;
temp_matrix.b.z = b.x * g.y - b.y * g.x;
temp_matrix.c.x = c.y * g.z - c.z * g.y;
temp_matrix.c.y = c.z * g.x - c.x * g.z;
temp_matrix.c.z = c.x * g.y - c.y * g.x;
self.a += temp_matrix.a;
self.b += temp_matrix.b;
self.c += temp_matrix.c;
}
//http://www.chrobotics.com/library/understanding-euler-angles
// x = north / roll
// y = pitch / east
// z = yaw / down
public static List<PointLatLngAlt> calc(PointLatLngAlt plla, double R, double P, double Y, double hfov, double vfov)
{
// alt should be asl
// P pitch where the center os pointing ie -80
// R roll
GMapPolygon poly = new GMapPolygon(new List<PointLatLng>(), "rect");
double frontangle = (P*0) + vfov/2;
double backangle = (P*0) - vfov/2;
double leftangle = (R*0) + hfov/2;
double rightangle = (R*0) - hfov/2;
var fovh = Math.Tan(hfov/2.0 * deg2rad)*2.0;
var fovv = Math.Tan(vfov/2.0 * deg2rad)*2.0;
//DoDebug();
addtomap(plla, "plane");
Matrix3 dcm = new Matrix3();
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.normalize();
Vector3 center1 = new Vector3(0, 0, 10000);
var test = dcm * center1;
var bearing2 = Math.Atan2(test.y, test.x) * rad2deg;
var newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var cen = calcIntersection(plla, newpos2);
var dist = plla.GetDistance(cen);
addtomap(cen, "center "+ dist.ToString("0"));
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(rightangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, frontangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = (Math.Atan2(test.y, test.x) * rad2deg);
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
//addtomap(newpos2, "tr2");
var groundpointtr = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointtr);
addtomap(groundpointtr, "tr");
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(leftangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, frontangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x)*rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointtl = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointtl);
addtomap(groundpointtl, "tl");
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(leftangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, backangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointbl = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointbl);
addtomap(groundpointbl, "bl");
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(rightangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, backangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointbr = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointbr);
addtomap(groundpointbr, "br");
//
polygons.Polygons.Clear();
polygons.Polygons.Add(poly);
var ans = new List<PointLatLngAlt>();
ans.Add(groundpointtl);
ans.Add(groundpointtr);
ans.Add(groundpointbr);
ans.Add(groundpointbl);
return ans;
}
static void add_errors(Vector3 mag, Vector3 gyr, Vector3 last_mag, double deltat, double[] total_error,
Rotation[] rotations)
{
foreach (var i in range(len(rotations)))
{
// if (!rotations[i].is_90_degrees())
// continue;
Matrix3 r = rotations[i].r;
Matrix3 m = new Matrix3();
m.rotate(gyr*deltat);
Vector3 rmag1 = r*last_mag;
Vector3 rmag2 = r*mag;
Vector3 rmag3 = m.transposed()*rmag1;
Vector3 err = rmag3 - rmag2;
total_error[i] += err.length();
}
}
//http://www.chrobotics.com/library/understanding-euler-angles
// x = north / roll
// y = pitch / east
// z = yaw / down
public static List<PointLatLngAlt> calc(PointLatLngAlt plla, double R, double P, double Y, double hfov, double vfov)
{
// alt should be asl
// P pitch where the center os pointing ie -80
// R roll
// if roll and pitch is 0, use the quick method.
if (R == 0 && P == 0)
{
// calc fov in m on the ground at 0 alt
var fovh = Math.Tan(hfov / 2.0 * deg2rad) * plla.Alt;
var fovv = Math.Tan(vfov / 2.0 * deg2rad) * plla.Alt;
var fovd = Math.Sqrt(fovh * fovh + fovv * fovv);
// where we put our footprint
var ans2 = new List<PointLatLngAlt>();
// calc bearing from center to corner
var bearing1 = Math.Atan2(fovh, fovv) * rad2deg;
// calc first corner point
var newpos1 = plla.newpos(bearing1 + Y, Math.Sqrt(fovh * fovh + fovv * fovv));
// set alt to 0, as we used the hypot for distance and fov is based on 0 alt
newpos1.Alt = 0;
// calc intersection from center to new point and return ground hit point
var cen1 = calcIntersection(plla, newpos1);
// add to our footprint poly
ans2.Add(cen1);
addtomap(cen1, "cen1");
//repeat
newpos1 = plla.newpos(Y - bearing1, Math.Sqrt(fovh * fovh + fovv * fovv));
newpos1.Alt = 0;
cen1 = calcIntersection(plla, newpos1);
ans2.Add(cen1);
addtomap(cen1, "cen2");
newpos1 = plla.newpos(bearing1 + Y - 180, Math.Sqrt(fovh * fovh + fovv * fovv));
newpos1.Alt = 0;
cen1 = calcIntersection(plla, newpos1);
ans2.Add(cen1);
addtomap(cen1, "cen3");
newpos1 = plla.newpos(Y - bearing1 - 180, Math.Sqrt(fovh * fovh + fovv * fovv));
newpos1.Alt = 0;
cen1 = calcIntersection(plla, newpos1);
ans2.Add(cen1);
addtomap(cen1, "cen4");
addtomap(plla, "plane");
return ans2;
}
GMapPolygon poly = new GMapPolygon(new List<PointLatLng>(), "rect");
double frontangle = (P*0) + vfov/2;
double backangle = (P*0) - vfov/2;
double leftangle = (R*0) + hfov/2;
double rightangle = (R*0) - hfov/2;
addtomap(plla, "plane");
Matrix3 dcm = new Matrix3();
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.normalize();
Vector3 center1 = new Vector3(0, 0, 10000);
var test = dcm * center1;
var bearing2 = Math.Atan2(test.y, test.x) * rad2deg;
var newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var cen = calcIntersection(plla, newpos2);
var dist = plla.GetDistance(cen);
addtomap(cen, "center "+ dist.ToString("0"));
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(rightangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, frontangle * deg2rad, 0));
dcm.normalize();
/*
var mx = new Matrix3();
var my = new Matrix3();
var mz = new Matrix3();
mx.from_euler((rightangle + R) * deg2rad, 0, 0);
my.from_euler(0, (frontangle + P) * deg2rad, 0);
mz.from_euler(0, 0, Y * deg2rad);
printdcm(mx);
printdcm(my);
printdcm(mz);
printdcm(my * mx);
printdcm(mz * my * mx);
test = mz * my * mx * center1;
*/
test = dcm * center1;
bearing2 = (Math.Atan2(test.y, test.x) * rad2deg);
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
//addtomap(newpos2, "tr2");
var groundpointtr = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointtr);
addtomap(groundpointtr, "tr");
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(leftangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, frontangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x)*rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointtl = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointtl);
addtomap(groundpointtl, "tl");
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(leftangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, backangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointbl = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointbl);
addtomap(groundpointbl, "bl");
//
dcm.from_euler(R * deg2rad, P * deg2rad, Y * deg2rad);
dcm.rotate(new Vector3(rightangle * deg2rad, 0, 0));
dcm.normalize();
dcm.rotate(new Vector3(0, backangle * deg2rad, 0));
dcm.normalize();
test = dcm * center1;
bearing2 = Math.Atan2(test.y, test.x) * rad2deg;
newpos2 = plla.newpos(bearing2, Math.Sqrt(test.x * test.x + test.y * test.y));
newpos2.Alt -= test.z;
var groundpointbr = calcIntersection(plla, newpos2);
poly.Points.Add(groundpointbr);
addtomap(groundpointbr, "br");
//
polygons.Polygons.Clear();
polygons.Polygons.Add(poly);
var ans = new List<PointLatLngAlt>();
ans.Add(groundpointtl);
ans.Add(groundpointtr);
ans.Add(groundpointbr);
ans.Add(groundpointbl);
return ans;
}
private static void printdcm(Matrix3 dcm)
{
double R = 0;
double P = 0;
double Y = 0;
dcm.to_euler(ref R, ref P, ref Y);
Console.WriteLine("{0} {1} {2}", R * rad2deg, P * rad2deg, Y * rad2deg);
}
static double radius(Vector3 mag, Vector3 offsets, Vector3 diagonals, Vector3 offdiagonals)
{
//'''return radius give data point and offsets'''
Vector3 mag2 = mag + offsets;
var rot = new Matrix3(new Vector3(diagonals.x, offdiagonals.x, offdiagonals.y),
new Vector3(offdiagonals.x, diagonals.y, offdiagonals.z),
new Vector3(offdiagonals.y, offdiagonals.z, diagonals.z));
mag2 = rot*mag2;
return mag2.length();
}
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] * MathHelper.rad2deg);
sitldata.rollRate = (DATA[17][1] * MathHelper.rad2deg);
sitldata.yawRate = (DATA[17][2] * MathHelper.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] * MathHelper.rad2deg);
sitldata.rollRate = (DATA[16][1] * MathHelper.rad2deg);
sitldata.yawRate = (DATA[16][2] * MathHelper.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 * MathHelper.deg2rad));
sitldata.speedE = -DATA[21][5]; // (DATA[3][7] * 0.44704 * Math.Cos(sitldata.heading * MathHelper.deg2rad));
Matrix3 dcm = new Matrix3();
dcm.from_euler(sitldata.rollDeg * MathHelper.deg2rad, sitldata.pitchDeg * MathHelper.deg2rad, sitldata.yawDeg * MathHelper.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 * MathHelper.deg2rad)));
float gload = (float)(1 / Math.Cos(sitldata.rollDeg * MathHelper.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 * MathHelper.deg2rad),
centripaccel * Math.Sin(sitldata.rollDeg * MathHelper.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 Matrix3()
{
self = this;
self.identity();
}