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++; }
/// <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 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++; }