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ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

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import Tools directory
2011-09-08 22:31:32 -03:00
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.Net;
using System.Net.Sockets;
using System.IO.Ports;
using System.IO;
using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports
using ZedGraph; // Graphs
using ArdupilotMega;
using System.Reflection;
// Written by Michael Oborne
namespace ArdupilotMega.GCSViews
{
public partial class Simulation : MyUserControl
{
MAVLink comPort = MainV2.comPort;
UdpClient XplanesSEND;
UdpClient MavLink;
Socket SimulatorRECV;
//TcpClient FlightGearSEND;
byte[] udpdata = new byte[113 * 9 + 5]; // 113 types - 9 items per type (index+8) + 5 byte header
float[][] DATA = new float[113][];
DateTime now = DateTime.Now;
DateTime lastgpsupdate = DateTime.Now;
List<string> position = new List<string>();
int REV_pitch = 1;
int REV_roll = 1;
int REV_rudder = 1;
int GPS_rate = 200;
bool displayfull = false;
int packetssent = 0;
//string logdata = "";
int tickStart = 0;
public static int threadrun = 0;
string simIP = "127.0.0.1";
int simPort = 49000;
int recvPort = 49005;
// set defaults
int rollgain = 10000;
int pitchgain = 10000;
int ruddergain = 10000;
int throttlegain = 10000;
// for servo graph
RollingPointPairList list = new RollingPointPairList(1200);
RollingPointPairList list2 = new RollingPointPairList(1200);
RollingPointPairList list3 = new RollingPointPairList(1200);
RollingPointPairList list4 = new RollingPointPairList(1200);
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct fgIMUData
{
// GPS
public double latitude;
public double longitude;
public double altitude;
public double heading;
public double velocityN;
public double velocityE;
// IMU
public double accelX;
public double accelY;
public double accelZ;
public double rateRoll;
public double ratePitch;
public double rateYaw;
// trailer
public uint magic;
}
~Simulation()
{
if (threadrun == 1)
ConnectComPort_Click(new object(), new EventArgs());
MavLink = null;
XplanesSEND = null;
SimulatorRECV = null;
}
public Simulation()
{
InitializeComponent();
//Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
}
private void ArdupilotSim_Load(object sender, EventArgs e)
{
GPSrate.SelectedIndex = 2;
xmlconfig(false);
CreateChart(zg1);
zg1.Visible = displayfull;
CHKgraphpitch.Visible = displayfull;
CHKgraphroll.Visible = displayfull;
CHKgraphrudder.Visible = displayfull;
CHKgraphthrottle.Visible = displayfull;
}
private void ConnectComPort_Click(object sender, EventArgs e)
{
if (threadrun == 0)
{
OutputLog.Clear();
if (MainV2.comPort.BaseStream.IsOpen == false)
{
MessageBox.Show("Please connect first");
return;
}
try
{
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
2011-09-22 20:33:25 -03:00
quad = new HIL.QuadCopter();
import Tools directory
2011-09-08 22:31:32 -03:00
SetupUDPRecv();
if (RAD_softXplanes.Checked)
{
SetupUDPXplanes();
SetupUDPMavLink();
}
else
{
//SetupTcpFlightGear(); // old style
SetupUDPXplanes(); // fg udp style
SetupUDPMavLink(); // pass traffic - raw
}
OutputLog.AppendText("Sim Link Started\n");
}
catch (Exception ex) { OutputLog.AppendText("Socket setup problem. Do you have this open already? " + ex.ToString()); }
System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
Name = "Main Serial/UDP listener",
IsBackground = true
};
t11.Start();
MainV2.threads.Add(t11);
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
2011-09-22 20:33:25 -03:00
timer1.Start();
import Tools directory
2011-09-08 22:31:32 -03:00
}
else
{
timer1.Stop();
threadrun = 0;
if (SimulatorRECV != null)
SimulatorRECV.Close();
if (SimulatorRECV != null && SimulatorRECV.Connected)
SimulatorRECV.Disconnect(true);
if (MavLink != null)
MavLink.Close();
position.Clear();
if (XplanesSEND != null)
XplanesSEND.Close();
// if (comPort.BaseStream.IsOpen)
// comPort.stopall(true);
OutputLog.AppendText("Sim Link Stopped\n");
System.Threading.Thread.Sleep(1000);
Application.DoEvents();
}
}
/// <summary>
/// Sets config hash for write on application exit
/// </summary>
/// <param name="write">true/false</param>
private void xmlconfig(bool write)
{
if (write)
{
ArdupilotMega.MainV2.config["REV_roll"] = CHKREV_roll.Checked.ToString();
ArdupilotMega.MainV2.config["REV_pitch"] = CHKREV_pitch.Checked.ToString();
ArdupilotMega.MainV2.config["REV_rudder"] = CHKREV_rudder.Checked.ToString();
ArdupilotMega.MainV2.config["GPSrate"] = GPSrate.Text;
ArdupilotMega.MainV2.config["Xplanes"] = RAD_softXplanes.Checked.ToString();
ArdupilotMega.MainV2.config["MAVrollgain"] = TXT_rollgain.Text;
ArdupilotMega.MainV2.config["MAVpitchgain"] = TXT_pitchgain.Text;
ArdupilotMega.MainV2.config["MAVruddergain"] = TXT_ruddergain.Text;
ArdupilotMega.MainV2.config["MAVthrottlegain"] = TXT_throttlegain.Text;
ArdupilotMega.MainV2.config["CHKdisplayall"] = CHKdisplayall.Checked.ToString();
ArdupilotMega.MainV2.config["simIP"] = simIP;
ArdupilotMega.MainV2.config["recvPort"] = recvPort;
ArdupilotMega.MainV2.config["simPort"] = simPort.ToString();
}
else
{
foreach (string key in ArdupilotMega.MainV2.config.Keys)
{
switch (key)
{
case "simIP":
simIP = ArdupilotMega.MainV2.config[key].ToString();
break;
case "simPort":
simPort = int.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "recvPort":
recvPort = int.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "REV_roll":
CHKREV_roll.Checked = bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "REV_pitch":
CHKREV_pitch.Checked = bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "REV_rudder":
CHKREV_rudder.Checked = bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "GPSrate":
GPSrate.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "Xplanes":
RAD_softXplanes.Checked = bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
break;
case "MAVrollgain":
TXT_rollgain.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "MAVpitchgain":
TXT_pitchgain.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "MAVruddergain":
TXT_ruddergain.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "MAVthrottlegain":
TXT_throttlegain.Text = ArdupilotMega.MainV2.config[key].ToString();
break;
case "CHKdisplayall":
CHKdisplayall.Checked = bool.Parse(ArdupilotMega.MainV2.config[key].ToString());
displayfull = CHKdisplayall.Checked;
break;
default:
break;
}
}
}
}
FGNetFDM lastfdmdata = new FGNetFDM();
const int FG_MAX_ENGINES = 4;
const int FG_MAX_WHEELS = 3;
const int FG_MAX_TANKS = 4;
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct FGNetFDM
{
public uint version; // increment when data values change
public uint padding; // padding
// Positions
public double longitude; // geodetic (radians)
public double latitude; // geodetic (radians)
public double altitude; // above sea level (meters)
public float agl; // above ground level (meters)
public float phi; // roll (radians)
public float theta; // pitch (radians)
public float psi; // yaw or true heading (radians)
public float alpha; // angle of attack (radians)
public float beta; // side slip angle (radians)
// Velocities
public float phidot; // roll rate (radians/sec)
public float thetadot; // pitch rate (radians/sec)
public float psidot; // yaw rate (radians/sec)
public float vcas; // calibrated airspeed
public float climb_rate; // feet per second
public float v_north; // north velocity in local/body frame, fps
public float v_east; // east velocity in local/body frame, fps
public float v_down; // down/vertical velocity in local/body frame, fps
public float v_wind_body_north; // north velocity in local/body frame
// relative to local airmass, fps
public float v_wind_body_east; // east velocity in local/body frame
// relative to local airmass, fps
public float v_wind_body_down; // down/vertical velocity in local/body
// frame relative to local airmass, fps
// Accelerations
public float A_X_pilot; // X accel in body frame ft/sec^2
public float A_Y_pilot; // Y accel in body frame ft/sec^2
public float A_Z_pilot; // Z accel in body frame ft/sec^2
// Stall
public float stall_warning; // 0.0 - 1.0 indicating the amount of stall
public float slip_deg; // slip ball deflection
// Pressure
// Engine status
uint num_engines; // Number of valid engines
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
uint[] eng_state;// Engine state (off, cranking, running)
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] rpm; // Engine RPM rev/min
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] fuel_flow; // Fuel flow gallons/hr
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] fuel_px; // Fuel pressure psi
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] egt; // Exhuast gas temp deg F
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] cht; // Cylinder head temp deg F
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] mp_osi; // Manifold pressure
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] tit; // Turbine Inlet Temperature
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] oil_temp; // Oil temp deg F
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_ENGINES)]
float[] oil_px; // Oil pressure psi
// Consumables
uint num_tanks; // Max number of fuel tanks
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_TANKS)]
float[] fuel_quantity;
// Gear status
uint num_wheels;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_WHEELS)]
uint[] wow;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_WHEELS)]
float[] gear_pos;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_WHEELS)]
float[] gear_steer;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = FG_MAX_WHEELS)]
float[] gear_compression;
// Environment
uint cur_time; // current unix time
// FIXME: make this uint64_t before 2038
int warp; // offset in seconds to unix time
float visibility; // visibility in meters (for env. effects)
// Control surface positions (normalized values)
float elevator;
float elevator_trim_tab;
float left_flap;
float right_flap;
float left_aileron;
float right_aileron;
float rudder;
float nose_wheel;
float speedbrake;
float spoilers;
}
const float ft2m = (float)(1.0 / 3.2808399);
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
const float kts2fps = (float)1.68780986;
private void mainloop()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
threadrun = 1;
EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
DateTime lastdata = DateTime.MinValue;
while (threadrun == 1)
{
if (comPort.BaseStream.IsOpen == false) { break; }
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now))
{
Console.WriteLine("REQ streams - sim");
try
{
if (CHK_quad.Checked)
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
}
else
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 50); // request servoout
}
}
catch { }
lastdata = DateTime.Now; // prevent flooding
}
if (SimulatorRECV.Available > 0)
{
udpdata = new byte[udpdata.Length];
try
{
int recv = SimulatorRECV.ReceiveFrom(udpdata, ref Remote);
RECVprocess(udpdata, recv, comPort);
}
catch (Exception ex) { OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n"); }
}
if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
{
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
try
{
Byte[] receiveBytes = MavLink.Receive(ref RemoteIpEndPoint);
Console.WriteLine("sending " + receiveBytes[5]);
if (receiveBytes[5] == 39)
{
Console.WriteLine("wp no " + receiveBytes[9]); // ??
}
comPort.BaseStream.Write(receiveBytes, 0, receiveBytes.Length);
}
catch { }
}
if (comPort.BaseStream.IsOpen == false) { break; }
try
{
MainV2.cs.UpdateCurrentSettings(null); // when true this uses alot more cpu time
if ((DateTime.Now - simsendtime).TotalMilliseconds > 19)
{
hzcount++;
simsendtime = DateTime.Now;
processArduPilot();
}
}
catch { }
if (hzcounttime.Second != DateTime.Now.Second)
{
// Console.WriteLine("SIM hz {0}", hzcount);
hzcount = 0;
hzcounttime = DateTime.Now;
}
System.Threading.Thread.Sleep(5); // this controls send speed to sim
}
}
int hzcount = 0;
DateTime hzcounttime = DateTime.Now;
DateTime simsendtime = DateTime.Now;
private void SetupUDPRecv()
{
// setup receiver
IPEndPoint ipep = new IPEndPoint(IPAddress.Any, recvPort);
SimulatorRECV = new Socket(AddressFamily.InterNetwork,
SocketType.Dgram, ProtocolType.Udp);
SimulatorRECV.Bind(ipep);
OutputLog.AppendText("Listerning on port "+recvPort+" (sim->planner)\n");
}
private void SetupUDPXplanes()
{
// setup sender
XplanesSEND = new UdpClient(simIP, simPort);
OutputLog.AppendText("Sending to port "+simPort+" (planner->sim)\n");
}
private void SetupUDPMavLink()
{
// setup sender
MavLink = new UdpClient("127.0.0.1", 14550);
}
/// <summary>
/// From http://code.google.com/p/gentlenav/source/browse/trunk/Tools/XP_UDB_HILSIM/utility.cpp
/// Converts from xplanes to fixed body ref
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="alpha"></param>
/// <param name="beta"></param>
public static void FLIGHTtoBCBF(ref float x, ref float y, ref float z, float alpha, float beta)
{
float Ca = (float)Math.Cos(alpha);
float Cb = (float)Math.Cos(beta);
float Sa = (float)Math.Sin(alpha);
float Sb = (float)Math.Sin(beta);
float X_plane = (x * Ca * Cb) - (z * Sa * Cb) - (y * Sb);
float Y_plane = (z * Sa * Sb) - (x * Ca * Sb) - (y * Cb);
float Z_plane = (x * Sa) + (z * Ca);
x = X_plane;
y = Y_plane;
z = Z_plane;
}
void OGLtoBCBF(ref float x, ref float y, ref float z, float phi, float theta, float psi)
{
float x_NED, y_NED, z_NED;
float Cr, Cp, Cy;
float Sr, Sp, Sy;
//Accelerations in X-Plane are expressed in the local OpenGL reference frame, for whatever reason.
//This coordinate system is defined as follows (taken from the X-Plane SDK Wiki):
// The origin 0,0,0 is on the surface of the earth at sea level at some "reference point".
// The +X axis points east from the reference point.
// The +Z axis points south from the reference point.
// The +Y axis points straight up away from the center of the earth at the reference point.
// First we shall convert from this East Up South frame, to a more conventional NED (North East Down) frame.
x_NED = -1.0f * z;
y_NED = x;
z_NED = -1.0f * y;
// Next calculate cos & sin of angles for use in the transformation matrix.
// r, p & y subscripts stand for roll pitch and yaw.
Cr = (float)Math.Cos(phi);
Cp = (float)Math.Cos(theta);
Cy = (float)Math.Cos(psi);
Sr = (float)Math.Sin(phi);
Sp = (float)Math.Sin(theta);
Sy = (float)Math.Sin(psi);
// Next we need to rotate our accelerations from the NED reference frame, into the body fixed reference frame
// THANKS TO GEORGE M SIOURIS WHOSE "MISSILE GUIDANCE AND CONTROL SYSTEMS" BOOK SEEMS TO BE THE ONLY EASY TO FIND REFERENCE THAT
// ACTUALLY GETS THE NED TO BODY FRAME ROTATION MATRIX CORRECT!!
// CpCy, CpSy, -Sp | local_ax
// SrSpCy-CrSy, SrSpSy+CrCy, SrCp | local_ay
// CrSpCy+SrSy, CrSpSy-SrCy, CrCp | local_az
x = (x_NED * Cp * Cy) + (y_NED * Cp * Sy) - (z_NED * Sp);
y = (x_NED * ((Sr * Sp * Cy) - (Cr * Sy))) + (y_NED * ((Sr * Sp * Sy) + (Cr * Cy))) + (z_NED * Sr * Cp);
z = (x_NED * ((Cr * Sp * Cy) + (Sr * Sy))) + (y_NED * ((Cr * Sp * Sy) - (Sr * Cy))) + (z_NED * Cr * Cp);
}
double sin(double rad)
{
return Math.Sin(rad);
}
double cos(double rad)
{
return Math.Cos(rad);
}
//float oldax =0, olday =0, oldaz = 0;
DateTime oldtime = DateTime.Now;
ArdupilotMega.MAVLink.__mavlink_attitude_t oldatt = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
/// <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)
{
ArdupilotMega.MAVLink.__mavlink_raw_imu_t imu = new ArdupilotMega.MAVLink.__mavlink_raw_imu_t();
ArdupilotMega.MAVLink.__mavlink_gps_raw_t gps = new ArdupilotMega.MAVLink.__mavlink_gps_raw_t();
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();
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
}
att.pitch = (DATA[18][0] * deg2rad);
att.roll = (DATA[18][1] * deg2rad);
att.yaw = (DATA[18][2] * deg2rad);
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
2011-09-22 20:33:25 -03:00
att.pitchspeed = (DATA[17][0]);
att.rollspeed = (DATA[17][1]);
att.yawspeed = (DATA[17][2]);
import Tools directory
2011-09-08 22:31:32 -03:00
TimeSpan timediff = DateTime.Now - oldtime;
float pdiff = (float)((att.pitch - oldatt.pitch) / timediff.TotalSeconds);
float rdiff = (float)((att.roll - oldatt.roll) / timediff.TotalSeconds);
float ydiff = (float)((att.yaw - oldatt.yaw) / timediff.TotalSeconds);
// Console.WriteLine("{0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", pdiff, rdiff, ydiff, DATA[17][0], DATA[17][1], DATA[17][2]);
oldatt = att;
rdiff = DATA[17][1];
pdiff = DATA[17][0];
ydiff = DATA[17][2];
Int16 xgyro = Constrain(rdiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 ygyro = Constrain(pdiff * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 zgyro = Constrain(ydiff * 1000.0, Int16.MinValue, Int16.MaxValue);
oldtime = DateTime.Now;
YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(DATA[18][1], DATA[18][0], 0, -9.8); //DATA[18][2]
//accel3D += new YLScsDrawing.Drawing3d.Vector3d(0, 0, -9.8);
double head = DATA[18][2] - 90;
imu.usec = ((ulong)DateTime.Now.ToBinary());
imu.xgyro = xgyro; // roll - yes
imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = ygyro; // pitch - yes
imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = zgyro;
imu.zmag = 0;
imu.xacc = (Int16)(accel3D.X * 1000); // pitch
imu.yacc = (Int16)(accel3D.Y * 1000); // roll
imu.zacc = (Int16)(accel3D.Z * 1000);
//Console.WriteLine("ax " + imu.xacc + " ay " + imu.yacc + " az " + imu.zacc);
gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)DATA[19][2]);
gps.lat = ((float)DATA[20][0]);
gps.lon = ((float)DATA[20][1]);
gps.usec = ((ulong)0);
gps.v = ((float)(DATA[3][7] * 0.44704));
gps.eph = 0;
gps.epv = 0;
asp.airspeed = ((float)(DATA[3][6] * 0.44704));
}
else if (receviedbytes == 0x64) // FG binary udp
{
//FlightGear
object imudata = new fgIMUData();
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
2011-09-22 20:33:25 -03:00
MAVLink.ByteArrayToStructureEndian(data, ref imudata, 0);
import Tools directory
2011-09-08 22:31:32 -03:00
imudata = (fgIMUData)(imudata);
fgIMUData imudata2 = (fgIMUData)imudata;
if (imudata2.magic != 0x4c56414d)
return;
if (imudata2.latitude == 0)
return;
chkSensor.Checked = true;
imu.usec = ((ulong)DateTime.Now.Ticks);
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 = ((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);
//FileStream stream = File.OpenWrite("fgdata.txt");
//stream.Write(data, 0, receviedbytes);
//stream.Close();
}
else if (receviedbytes > 0x100)
{
FGNetFDM fdm = new FGNetFDM();
object temp = fdm;
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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MAVLink.ByteArrayToStructureEndian(data, ref temp, 0);
import Tools directory
2011-09-08 22:31:32 -03:00
fdm = (FGNetFDM)(temp);
lastfdmdata = fdm;
att.roll = fdm.phi;
att.pitch = fdm.theta;
att.yaw = fdm.psi;
imu.usec = ((ulong)DateTime.Now.ToBinary());
imu.xgyro = (short)(fdm.phidot * 1150); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(fdm.thetadot * 1150); // pitch - yes
//imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = (short)(fdm.psidot * 1150);
imu.zmag = 0;
imu.xacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_X_pilot * 9808 / 32.2))); // pitch
imu.yacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_Y_pilot * 9808 / 32.2))); // roll
imu.zacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_Z_pilot / 32.2 * 9808)));
//Console.WriteLine("ax " + imu.xacc + " ay " + imu.yacc + " az " + imu.zacc);
gps.alt = ((float)(fdm.altitude * ft2m));
gps.fix_type = 3;
gps.hdg = (float)(((Math.Atan2(fdm.v_east, fdm.v_north) * rad2deg) + 360) % 360);
//Console.WriteLine(gps.hdg);
gps.lat = ((float)fdm.latitude * rad2deg);
gps.lon = ((float)fdm.longitude * rad2deg);
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m);
asp.airspeed = fdm.vcas * kts2fps * ft2m;
}
else
{
//FlightGear - old style udp
DATA[20] = new float[8];
DATA[18] = new float[8];
DATA[19] = new float[8];
DATA[3] = new float[8];
// this text line is defined from ardupilot.xml
string telem = Encoding.ASCII.GetString(data, 0, data.Length);
try
{
// should convert this to regex.... or just leave it.
int oldpos = 0;
int pos = telem.IndexOf(",");
DATA[20][0] = float.Parse(telem.Substring(oldpos, pos - 1), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[20][1] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[20][2] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[18][1] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[18][0] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf(",", pos + 1);
DATA[19][2] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
oldpos = pos;
pos = telem.IndexOf("\n", pos + 1);
DATA[3][6] = float.Parse(telem.Substring(oldpos + 1, pos - 1 - oldpos), new System.Globalization.CultureInfo("en-US"));
DATA[3][7] = DATA[3][6];
}
catch (Exception) { }
chkSensor.Checked = false;
att.pitch = (DATA[18][0]);
att.roll = (DATA[18][1]);
att.yaw = (DATA[19][2]);
gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3;
gps.hdg = ((float)DATA[18][2]);
gps.lat = ((float)DATA[20][0]);
gps.lon = ((float)DATA[20][1]);
gps.usec = ((ulong)0);
gps.v = ((float)(DATA[3][7] * 0.44704));
gps.eph = 0;
gps.epv = 0;
asp.airspeed = ((float)(DATA[3][6] * 0.44704));
}
// write arduimu to ardupilot
if (CHK_quad.Checked) // quad does its own
{
return;
}
if (chkSensor.Checked == false) // attitude
{
comPort.generatePacket(ArdupilotMega.MAVLink.MAVLINK_MSG_ID_ATTITUDE, att);
comPort.generatePacket(ArdupilotMega.MAVLink.MAVLINK_MSG_ID_VFR_HUD, asp);
}
else // raw imu
{
// imudata
comPort.generatePacket(ArdupilotMega.MAVLink.MAVLINK_MSG_ID_RAW_IMU, imu);
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 - 101325); // 0 alt is 0 pa
comPort.generatePacket(ArdupilotMega.MAVLink.MAVLINK_MSG_ID_RAW_PRESSURE, pres);
comPort.generatePacket(ArdupilotMega.MAVLink.MAVLINK_MSG_ID_VFR_HUD, asp);
}
TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
if (gpsspan.TotalMilliseconds >= GPS_rate)
{
lastgpsupdate = DateTime.Now;
comPort.generatePacket(ArdupilotMega.MAVLink.MAVLINK_MSG_ID_GPS_RAW, gps);
}
}
const int X25_INIT_CRC = 0xffff;
const int X25_VALIDATE_CRC = 0xf0b8;
ushort crc_accumulate(byte b, ushort crc)
{
unchecked
{
byte ch = (byte)(b ^ (byte)(crc & 0x00ff));
ch = (byte)(ch ^ (ch << 4));
return (ushort)((crc >> 8) ^ (ch << 8) ^ (ch << 3) ^ (ch >> 4));
}
}
ushort crc_calculate(byte[] pBuffer, int length)
{
// For a "message" of length bytes contained in the unsigned char array
// pointed to by pBuffer, calculate the CRC
// crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
ushort crcTmp;
int i;
crcTmp = X25_INIT_CRC;
for (i = 1; i < length; i++) // skips header U
{
crcTmp = crc_accumulate(pBuffer[i], crcTmp);
//Console.WriteLine(crcTmp + " " + pBuffer[i] + " " + length);
}
return (crcTmp);
}
HIL.QuadCopter quad = new HIL.QuadCopter();
private void processArduPilot()
{
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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bool heli = CHK_heli.Checked;
import Tools directory
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APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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// Console.WriteLine("sim "+DateTime.Now.Millisecond);
import Tools directory
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if (CHK_quad.Checked)
{
double[] m = new double[4];
m[0] = (ushort)MainV2.cs.ch1out;
m[1] = (ushort)MainV2.cs.ch2out;
m[2] = (ushort)MainV2.cs.ch3out;
m[3] = (ushort)MainV2.cs.ch4out;
if (!RAD_softFlightGear.Checked)
{
lastfdmdata.latitude = DATA[20][0] * deg2rad;
lastfdmdata.longitude = DATA[20][1] * deg2rad;
lastfdmdata.altitude = (DATA[20][2]);
}
try
{
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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if (lastfdmdata.version == 0)
return;
import Tools directory
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quad.update(ref m, lastfdmdata);
}
catch (Exception e) { Console.WriteLine("Quad hill error " + e.ToString()); }
byte[] FlightGear = new byte[8 * 11];// StructureToByteArray(fg);
Array.Copy(BitConverter.GetBytes((double)(m[0])), 0, FlightGear, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(m[1])), 0, FlightGear, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(m[2])), 0, FlightGear, 16, 8);
Array.Copy(BitConverter.GetBytes((double)(m[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)), 0, FlightGear, 64, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.pitch)), 0, FlightGear, 72, 8);
Array.Copy(BitConverter.GetBytes((double)(quad.yaw)), 0, FlightGear, 80, 8);
//Array.Copy(BitConverter.GetBytes(0xc465414d), 0, FlightGear, 88, 4);
if (RAD_softFlightGear.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);
}
//Array.Reverse(FlightGear, 88, 4);
// old style
//string send = "3," + (roll_out * REV_roll).ToString(new System.Globalization.CultureInfo("en-US")) + "," + (pitch_out * REV_pitch * -1).ToString(new System.Globalization.CultureInfo("en-US")) + "," + (rudder_out * REV_rudder).ToString(new System.Globalization.CultureInfo("en-US")) + "," + (throttle_out).ToString(new System.Globalization.CultureInfo("en-US")) + "\r\n";
//FlightGear = new System.Text.ASCIIEncoding().GetBytes(send);
try
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); }
try
{
// Update Sim stuff
this.Invoke((MethodInvoker)delegate
{
TXT_lat.Text = (lastfdmdata.latitude * rad2deg).ToString("0.00000");
TXT_long.Text =(lastfdmdata.longitude * rad2deg).ToString("0.00000");
TXT_alt.Text = (lastfdmdata.altitude * .3048).ToString("0.00");
TXT_roll.Text = (lastfdmdata.phi * rad2deg).ToString("0.000");
TXT_pitch.Text =(lastfdmdata.theta * rad2deg).ToString("0.000");
TXT_heading.Text = (lastfdmdata.psi * rad2deg).ToString("0.000");
TXT_yaw.Text = (lastfdmdata.psi * rad2deg).ToString("0.000");
TXT_wpdist.Text = MainV2.cs.wp_dist.ToString();
TXT_bererror.Text = MainV2.cs.ber_error.ToString();
TXT_alterror.Text = MainV2.cs.alt_error.ToString();
TXT_WP.Text = MainV2.cs.wpno.ToString();
TXT_control_mode.Text = MainV2.cs.mode;
});
}
catch { this.Invoke((MethodInvoker)delegate { OutputLog.AppendText("NO SIM data - exep\n"); }); }
return;
}
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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float roll_out, pitch_out, throttle_out, rudder_out, collective_out;
collective_out = 0;
if (heli)
{
roll_out = (float)MainV2.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
throttle_out = 1;
rudder_out = (float)MainV2.cs.hilch4 / -ruddergain;
collective_out = (float)(MainV2.cs.hilch3 - 1000) / throttlegain;
}
else
{
roll_out = (float)MainV2.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
}
import Tools directory
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if ((roll_out == -1 || roll_out == 1) && (pitch_out == -1 || pitch_out == 1))
{
this.Invoke((MethodInvoker)delegate
{
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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try
{
OutputLog.AppendText("Please check your radio setup - CLI -> setup -> radio!!!\n");
}
catch { }
import Tools directory
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});
}
// 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)
{
list4.Add(time, throttle_out);
}
else { list4.Clear(); }
}
if (packetssent % 10 == 0) // reduce cpu usage
{
try
{
// update APM stuff
this.Invoke((MethodInvoker)delegate
{
TXT_servoroll.Text = roll_out.ToString("0.000");
TXT_servopitch.Text = pitch_out.ToString("0.000");
TXT_servorudder.Text = rudder_out.ToString("0.000");
TXT_servothrottle.Text = throttle_out.ToString("0.000");
TXT_wpdist.Text = MainV2.cs.wp_dist.ToString();
TXT_bererror.Text = MainV2.cs.ber_error.ToString();
TXT_alterror.Text = MainV2.cs.alt_error.ToString();
TXT_WP.Text = MainV2.cs.wpno.ToString();
TXT_control_mode.Text = MainV2.cs.mode;
});
}
catch { this.Invoke((MethodInvoker)delegate { OutputLog.AppendText("BAD APM data\n"); }); }
try
{
if (DATA[20] != null)
{
// Update Sim stuff
this.Invoke((MethodInvoker)delegate
{
TXT_lat.Text = DATA[20][0].ToString("0.00000");
TXT_long.Text = DATA[20][1].ToString("0.00000");
TXT_alt.Text = (DATA[20][2] * .3048).ToString("0.00");
TXT_roll.Text = DATA[18][1].ToString("0.000");
TXT_pitch.Text = DATA[18][0].ToString("0.000");
TXT_heading.Text = DATA[19][2].ToString("0.000");
TXT_yaw.Text = DATA[18][2].ToString("0.000");
});
}
else if (RAD_softFlightGear.Checked)
{
TXT_lat.Text = (lastfdmdata.latitude * rad2deg).ToString("0.00000");
TXT_long.Text = (lastfdmdata.longitude * rad2deg).ToString("0.00000");
TXT_alt.Text = (lastfdmdata.altitude * .3048).ToString("0.00");
TXT_roll.Text = (lastfdmdata.phi * rad2deg).ToString("0.000");
TXT_pitch.Text = (lastfdmdata.theta * rad2deg).ToString("0.000");
TXT_heading.Text = (lastfdmdata.psi * rad2deg).ToString("0.000");
TXT_yaw.Text = (lastfdmdata.psi * rad2deg).ToString("0.000");
TXT_wpdist.Text = MainV2.cs.wp_dist.ToString();
TXT_bererror.Text = MainV2.cs.ber_error.ToString();
TXT_alterror.Text = MainV2.cs.alt_error.ToString();
TXT_WP.Text = MainV2.cs.wpno.ToString();
TXT_control_mode.Text = MainV2.cs.mode;
}
else
{
this.Invoke((MethodInvoker)delegate { OutputLog.AppendText(DateTime.Now.ToString("hh:mm:ss") + " NO SIM data - 20\n"); });
}
}
catch { this.Invoke((MethodInvoker)delegate { OutputLog.AppendText("NO SIM data - exep\n"); }); }
}
}
catch (Exception e) { Console.WriteLine("Error updateing screen stuff " + e.ToString()); }
// Flightgear
packetssent++;
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);
// old style
//string send = "3," + (roll_out * REV_roll).ToString(new System.Globalization.CultureInfo("en-US")) + "," + (pitch_out * REV_pitch * -1).ToString(new System.Globalization.CultureInfo("en-US")) + "," + (rudder_out * REV_rudder).ToString(new System.Globalization.CultureInfo("en-US")) + "," + (throttle_out).ToString(new System.Globalization.CultureInfo("en-US")) + "\r\n";
//FlightGear = new System.Text.ASCIIEncoding().GetBytes(send);
try
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); }
}
// Xplanes
if (RAD_softXplanes.Checked)
{
// sending only 1 packet instead of many.
byte[] Xplane = new byte[5 + 36 + 36];
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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if (heli)
import Tools directory
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{
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 * 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);
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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if (heli)
import Tools directory
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{
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
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Array.Copy(BitConverter.GetBytes((float)(0)), 0, Xplane, 53, 4);
import Tools directory
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int a = 73 + 4;
Array.Copy(BitConverter.GetBytes((int)39), 0, Xplane, a, 4); // packet index
a += 4;
APM Planner 1.0.75 add heli hil (beta) suggested sim gains 5000,5000,500,1000 fix simple mode error add AZ to measure distance
2011-09-22 20:33:25 -03:00
Array.Copy(BitConverter.GetBytes((float)(12 * collective_out)), 0, Xplane, a, 4); // main rotor 0 - 12
import Tools directory
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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) { Console.WriteLine("Xplanes udp send error " + e.Message); }
}
}
private void RAD_softXplanes_CheckedChanged(object sender, EventArgs e)
{
if (RAD_softXplanes.Checked && RAD_softFlightGear.Checked)
{
RAD_softFlightGear.Checked = false;
}
}
private void RAD_softFlightGear_CheckedChanged(object sender, EventArgs e)
{
if (RAD_softFlightGear.Checked && RAD_softXplanes.Checked)
{
RAD_softXplanes.Checked = false;
}
}
private void CHKREV_roll_CheckedChanged(object sender, EventArgs e)
{
if (CHKREV_roll.Checked)
{
REV_roll = -1;
}
else
{
REV_roll = 1;
}
}
private void CHKREV_pitch_CheckedChanged(object sender, EventArgs e)
{
if (CHKREV_pitch.Checked)
{
REV_pitch = -1;
}
else
{
REV_pitch = 1;
}
}
private void CHKREV_rudder_CheckedChanged(object sender, EventArgs e)
{
if (CHKREV_rudder.Checked)
{
REV_rudder = -1;
}
else
{
REV_rudder = 1;
}
}
private void GPSrate_SelectedIndexChanged(object sender, EventArgs e)
{
try
{
GPS_rate = int.Parse(GPSrate.Text); //GPSrate.SelectedItem.ToString());
}
catch { }
}
private void OutputLog_TextChanged(object sender, EventArgs e)
{
if (OutputLog.TextLength >= 10000)
{
OutputLog.Text = OutputLog.Text.Substring(OutputLog.TextLength / 2);
}
// auto scroll
OutputLog.SelectionStart = OutputLog.Text.Length;
OutputLog.ScrollToCaret();
OutputLog.Refresh();
}
private float Constrain(float value, float min, float max)
{
if (value > max) { value = max; }
if (value < min) { value = min; }
return value;
}
private short Constrain(double value, double min, double max)
{
if (value > max) { value = max; }
if (value < min) { value = min; }
return (short)value;
}
public void CreateChart(ZedGraphControl zgc)
{
GraphPane myPane = zgc.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "Servo Output";
myPane.XAxis.Title.Text = "Time";
myPane.YAxis.Title.Text = "Output";
LineItem myCurve;
myCurve = myPane.AddCurve("Roll", list, Color.Red, SymbolType.None);
myCurve = myPane.AddCurve("Pitch", list2, Color.Blue, SymbolType.None);
myCurve = myPane.AddCurve("Rudder", list3, Color.Green, SymbolType.None);
myCurve = myPane.AddCurve("Throttle", list4, Color.Orange, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 5;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.Red;
myPane.YAxis.Title.FontSpec.FontColor = Color.Red;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
// Manually set the axis range
//myPane.YAxis.Scale.Min = -1;
//myPane.YAxis.Scale.Max = 1;
// Fill the axis background with a gradient
myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
// Sample at 50ms intervals
timer1.Interval = 50;
timer1.Enabled = true;
timer1.Start();
// Calculate the Axis Scale Ranges
zgc.AxisChange();
tickStart = Environment.TickCount;
}
private void timer1_Tick(object sender, EventArgs e)
{
// Make sure that the curvelist has at least one curve
if (zg1.GraphPane.CurveList.Count <= 0)
return;
// Get the first CurveItem in the graph
LineItem curve = zg1.GraphPane.CurveList[0] as LineItem;
if (curve == null)
return;
// Get the PointPairList
IPointListEdit list = curve.Points as IPointListEdit;
// If this is null, it means the reference at curve.Points does not
// support IPointListEdit, so we won't be able to modify it
if (list == null)
return;
// Time is measured in seconds
double time = (Environment.TickCount - tickStart) / 1000.0;
// Keep the X scale at a rolling 30 second interval, with one
// major step between the max X value and the end of the axis
Scale xScale = zg1.GraphPane.XAxis.Scale;
if (time > xScale.Max - xScale.MajorStep)
{
xScale.Max = time + xScale.MajorStep;
xScale.Min = xScale.Max - 30.0;
}
// Make sure the Y axis is rescaled to accommodate actual data
try
{
zg1.AxisChange();
}
catch { }
// Force a redraw
zg1.Invalidate();
}
private void SaveSettings_Click(object sender, EventArgs e)
{
xmlconfig(true);
}
private void GPSrate_Leave(object sender, EventArgs e)
{
// user entered values
GPSrate_SelectedIndexChanged(sender, e);
}
private void GPSrate_KeyDown(object sender, KeyEventArgs e)
{
// user entered values
GPSrate_SelectedIndexChanged(sender, e);
}
private void but_advsettings_Click(object sender, EventArgs e)
{
InputBox("IP", "Enter Sim pc IP (def 127.0.0.1)", ref simIP);
string temp = simPort.ToString();
InputBox("Port", "Enter Sim pc Port (def 49000)", ref temp);
simPort = int.Parse(temp);
temp = recvPort.ToString();
InputBox("Port", "Enter Planner pc Port (def 49005)", ref temp);
recvPort = int.Parse(temp);
xmlconfig(true);
//Microsoft.VisualBasic.Interaction.InputBox("Enter Xplane pc IP", "IP", "127.0.0.1", -1, -1);
//Microsoft.VisualBasic.Interaction.InputBox("Enter Xplane pc IP", "IP", "127.0.0.1", -1, -1);
}
//from http://www.csharp-examples.net/inputbox/
public static DialogResult InputBox(string title, string promptText, ref string value)
{
Form form = new Form();
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
TextBox textBox = new TextBox();
Button buttonOk = new Button();
Button buttonCancel = new Button();
form.Text = title;
label.Text = promptText;
textBox.Text = value;
buttonOk.Text = "OK";
buttonCancel.Text = "Cancel";
buttonOk.DialogResult = DialogResult.OK;
buttonCancel.DialogResult = DialogResult.Cancel;
label.SetBounds(9, 20, 372, 13);
textBox.SetBounds(12, 36, 372, 20);
buttonOk.SetBounds(228, 72, 75, 23);
buttonCancel.SetBounds(309, 72, 75, 23);
label.AutoSize = true;
textBox.Anchor = textBox.Anchor | AnchorStyles.Right;
buttonOk.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;
buttonCancel.Anchor = AnchorStyles.Bottom | AnchorStyles.Right;
form.ClientSize = new Size(396, 107);
form.Controls.AddRange(new Control[] { label, textBox, buttonOk, buttonCancel });
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
form.FormBorderStyle = FormBorderStyle.FixedDialog;
form.StartPosition = FormStartPosition.CenterScreen;
form.MinimizeBox = false;
form.MaximizeBox = false;
form.AcceptButton = buttonOk;
form.CancelButton = buttonCancel;
DialogResult dialogResult = form.ShowDialog();
if (dialogResult == DialogResult.OK)
{
value = textBox.Text;
}
return dialogResult;
}
private void CHK_quad_CheckedChanged(object sender, EventArgs e)
{
}
private void BUT_startfgquad_Click(object sender, EventArgs e)
{
string extra = "";
OpenFileDialog ofd = new OpenFileDialog()
{
Filter = "fgfs|*fgfs*"
};
if (File.Exists(@"C:\Program Files (x86)\FlightGear\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files (x86)\FlightGear\bin\Win32\";
extra = " --fg-root=\"C:\\Program Files (x86)\\FlightGear\\data\"";
}
else if (File.Exists(@"C:\Program Files\FlightGear\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files\FlightGear\bin\Win32\";
extra = " --fg-root=\"C:\\Program Files\\FlightGear\\data\"";
}
else if (File.Exists(@"/usr/games/fgfs"))
{
ofd.InitialDirectory = @"/usr/games";
}
if (File.Exists(MainV2.getConfig("fgexe")) || ofd.ShowDialog() == DialogResult.OK)
{
if (ofd.FileName != "")
{
MainV2.config["fgexe"] = ofd.FileName;
}
else
{
ofd.FileName = MainV2.config["fgexe"].ToString();
}
System.Diagnostics.Process P = new System.Diagnostics.Process();
P.StartInfo.FileName = ofd.FileName;
P.StartInfo.Arguments = extra + @" --geometry=400x300 --aircraft=arducopter --native-fdm=socket,out,50,127.0.0.1,49005,udp --generic=socket,in,50,127.0.0.1,49000,udp,quadhil --fdm=external --roll=0 --pitch=0 --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz111111=30 --timeofday=noon --shading-flat --fog-disable --disable-specular-highlight --disable-skyblend --disable-random-objects --disable-panel --disable-horizon-effect --disable-clouds --disable-anti-alias-hud ";
P.Start();
}
}
private void BUT_startfgplane_Click(object sender, EventArgs e)
{
string extra = "";
OpenFileDialog ofd = new OpenFileDialog()
{
Filter = "fgfs|*fgfs*"
};
if (File.Exists(@"C:\Program Files (x86)\FlightGear\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files (x86)\FlightGear\bin\Win32\";
extra = " --fg-root=\"C:\\Program Files (x86)\\FlightGear\\data\"";
}
else if (File.Exists(@"C:\Program Files\FlightGear\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files\FlightGear\bin\Win32\";
extra = " --fg-root=\"C:\\Program Files\\FlightGear\\data\"";
}
else if (File.Exists(@"/usr/games/fgfs"))
{
ofd.InitialDirectory = @"/usr/games";
}
if (File.Exists(MainV2.getConfig("fgexe")) || ofd.ShowDialog() == DialogResult.OK)
{
if (ofd.FileName != "")
{
MainV2.config["fgexe"] = ofd.FileName;
}
else
{
ofd.FileName = MainV2.config["fgexe"].ToString();
}
System.Diagnostics.Process P = new System.Diagnostics.Process();
P.StartInfo.FileName = ofd.FileName;
P.StartInfo.Arguments = extra + @" --geometry=400x300 --native-fdm=socket,out,50,127.0.0.1,49005,udp --generic=socket,in,50,127.0.0.1,49000,udp,MAVLink --roll=0 --pitch=0 --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --timeofday=noon --shading-flat --fog-disable --disable-specular-highlight --disable-skyblend --disable-random-objects --disable-panel --disable-horizon-effect --disable-clouds --disable-anti-alias-hud ";
P.Start();
}
}
private void BUT_startxplane_Click(object sender, EventArgs e)
{
OpenFileDialog ofd = new OpenFileDialog()
{
Filter = "X-Plane|*X-Plane*"
};
try
{
ofd.InitialDirectory = Path.GetDirectoryName(MainV2.config["xplaneexe"].ToString());
}
catch { }
if (File.Exists(MainV2.getConfig("xplaneexe")) || ofd.ShowDialog() == DialogResult.OK)
{
if (ofd.FileName != "")
{
MainV2.config["xplaneexe"] = ofd.FileName;
}
else
{
ofd.FileName = MainV2.config["xplaneexe"].ToString();
}
System.Diagnostics.Process P = new System.Diagnostics.Process();
P.StartInfo.FileName = ofd.FileName;
P.StartInfo.Arguments = "";
P.Start();
}
}
private void TXT_rollgain_TextChanged(object sender, EventArgs e)
{
updateGains();
}
private void TXT_pitchgain_TextChanged(object sender, EventArgs e)
{
updateGains();
}
private void TXT_ruddergain_TextChanged(object sender, EventArgs e)
{
updateGains();
}
private void TXT_throttlegain_TextChanged(object sender, EventArgs e)
{
updateGains();
}
void updateGains()
{
try
{
rollgain = int.Parse(TXT_rollgain.Text);
pitchgain = int.Parse(TXT_pitchgain.Text);
ruddergain = int.Parse(TXT_ruddergain.Text);
throttlegain = int.Parse(TXT_throttlegain.Text);
}
catch (Exception) { this.Invoke((MethodInvoker)delegate { OutputLog.AppendText("Bad Gains!!!\n"); }); }
}
private void CHKdisplayall_CheckedChanged(object sender, EventArgs e)
{
displayfull = CHKdisplayall.Checked;
if (displayfull)
{
//this.Width = 651;
timer1.Start();
zg1.Visible = true;
CHKgraphpitch.Visible = true;
CHKgraphroll.Visible = true;
CHKgraphrudder.Visible = true;
CHKgraphthrottle.Visible = true;
}
else
{
//651, 457
//this.Width = 651;
//this.Height = 457;
timer1.Stop();
zg1.Visible = false;
CHKgraphpitch.Visible = false;
CHKgraphroll.Visible = false;
CHKgraphrudder.Visible = false;
CHKgraphthrottle.Visible = false;
}
}
}
}