using System; using System.Collections.Generic; using System.Text; using System.ComponentModel; namespace ArdupilotMega { public class CurrentState: ICloneable { // multipliers public float multiplierdist = 1; public float multiplierspeed = 1; // orientation - rads public float roll { get; set; } public float pitch { get; set; } public float yaw { get { return _yaw; } set { if (value < 0) { _yaw = value + 360; } else { _yaw = value; } } } private float _yaw = 0; public float groundcourse { get { return _groundcourse; } set { if (value < 0) { _groundcourse = value + 360; } else { _groundcourse = value; } } } private float _groundcourse = 0; // speeds public float airspeed { get { return _airspeed * multiplierspeed; } set { _airspeed = value; } } public float groundspeed { get { return _groundspeed * multiplierspeed; } set { _groundspeed = value; } } float _airspeed; float _groundspeed; float _verticalspeed; public float verticalspeed { get { if (float.IsNaN(_verticalspeed)) _verticalspeed = 0; return _verticalspeed; } set { _verticalspeed = _verticalspeed * 0.8f + value * 0.2f; } } public float wind_dir { get; set; } public float wind_vel { get; set; } /// /// used in wind calc /// double Wn_fgo; /// /// used for wind calc /// double We_fgo; //(alt_now - alt_then)/(time_now-time_then) // position public float lat { get; set; } public float lng { get; set; } public float alt { get { return (_alt - altoffsethome) * multiplierdist; } set { _alt = value; } } DateTime lastalt = DateTime.Now; float oldalt = 0; public float altoffsethome { get; set; } private float _alt = 0; public float gpsstatus { get; set; } public float gpshdop { get; set; } public float satcount { get; set; } public float altd1000 { get { return (alt / 1000) % 10; } } public float altd100 { get { return (alt / 100) % 10; } } // accel public float ax { get; set; } public float ay { get; set; } public float az { get; set; } // gyro public float gx { get; set; } public float gy { get; set; } public float gz { get; set; } // calced turn rate public float turnrate { get { if (groundspeed <= 1) return 0; return (roll * 9.8f) / groundspeed; } } //radio public float ch1in { get; set; } public float ch2in { get; set; } public float ch3in { get; set; } public float ch4in { get; set; } public float ch5in { get; set; } public float ch6in { get; set; } public float ch7in { get; set; } public float ch8in { get; set; } // motors public float ch1out { get; set; } public float ch2out { get; set; } public float ch3out { get; set; } public float ch4out { get; set; } public float ch5out { get; set; } public float ch6out { get; set; } public float ch7out { get; set; } public float ch8out { get; set; } public float ch3percent { get { try { return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100); } catch { return 0; } } } //nav state public float nav_roll { get; set; } public float nav_pitch { get; set; } public float nav_bearing { get; set; } public float target_bearing { get; set; } public float wp_dist { get { return (_wpdist * multiplierdist); } set { _wpdist = value; } } public float alt_error { get { return _alt_error * multiplierdist; } set { _alt_error = value; } } public float ber_error { get { return (target_bearing - yaw); } set { } } public float aspd_error { get { return _aspd_error * multiplierspeed; } set { _aspd_error = value; } } public float xtrack_error { get; set; } public float wpno { get; set; } public string mode { get; set; } public float climbrate { get; set; } float _wpdist; float _aspd_error; float _alt_error; public float targetaltd100 { get { return ((alt + alt_error) / 100) % 10; } } public float targetalt { get { return (float)Math.Round(alt + alt_error,0); } } //airspeed_error = (airspeed_error - airspeed); public float targetairspeed { get { return (float)Math.Round(airspeed + aspd_error / 100,0); } } //message public List messages { get; set; } public string message { get { if (messages.Count == 0) return ""; return messages[messages.Count - 1]; } set { } } //battery public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } } private float _battery_voltage; public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; } } private float _battery_remaining; // HIL public int hilch1 { get; set; } public int hilch2 { get; set; } public int hilch3 { get; set; } public int hilch4 { get; set; } public int hilch5; public int hilch6; public int hilch7; public int hilch8; // rc override public ushort rcoverridech1 { get; set; } public ushort rcoverridech2 { get; set; } public ushort rcoverridech3 { get; set; } public ushort rcoverridech4 { get; set; } // current firmware public MainV2.Firmwares firmware = MainV2.Firmwares.ArduPlane; public float freemem { get; set; } public float brklevel { get; set; } // stats public ushort packetdropremote { get; set; } public ushort linkqualitygcs { get; set; } // requested stream rates public byte rateattitude { get; set; } public byte rateposition { get; set; } public byte ratestatus { get; set; } public byte ratesensors { get; set; } public byte raterc { get; set; } // reference public DateTime datetime { get; set; } public CurrentState() { mode = ""; messages = new List(); rateattitude = 10; rateposition = 3; ratestatus = 1; ratesensors = 3; raterc = 3; } const float rad2deg = (float)(180 / Math.PI); const float deg2rad = (float)(1.0 / rad2deg); private DateTime lastupdate = DateTime.Now; private DateTime lastwindcalc = DateTime.Now; public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs) { UpdateCurrentSettings(bs, false); } public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow) { if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz { lastupdate = DateTime.Now; if (DateTime.Now.Second != lastwindcalc.Second) { lastwindcalc = DateTime.Now; dowindcalc(); } // Console.WriteLine("Updating CurrentState " + DateTime.Now.Millisecond); if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text { string logdata = DateTime.Now + " " + Encoding.ASCII.GetString(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, MAVLink.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6); int ind = logdata.IndexOf('\0'); if (ind != -1) logdata = logdata.Substring(0, ind); if (messages.Count > 5) { messages.RemoveAt(0); } messages.Add(logdata + "\n"); MAVLink.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] != null) // hil { var hil = new ArdupilotMega.MAVLink.__mavlink_rc_channels_scaled_t(); object temp = hil; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED], ref temp, 6); hil = (MAVLink.__mavlink_rc_channels_scaled_t)(temp); hilch1 = hil.chan1_scaled; hilch2 = hil.chan2_scaled; hilch3 = hil.chan3_scaled; hilch4 = hil.chan4_scaled; hilch5 = hil.chan5_scaled; hilch6 = hil.chan6_scaled; hilch7 = hil.chan7_scaled; hilch8 = hil.chan8_scaled; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] != null) { MAVLink.__mavlink_nav_controller_output_t nav = new MAVLink.__mavlink_nav_controller_output_t(); object temp = nav; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT], ref temp, 6); nav = (MAVLink.__mavlink_nav_controller_output_t)(temp); nav_roll = nav.nav_roll; nav_pitch = nav.nav_pitch; nav_bearing = nav.nav_bearing; target_bearing = nav.target_bearing; wp_dist = nav.wp_dist; alt_error = nav.alt_error; aspd_error = nav.aspd_error; xtrack_error = nav.xtrack_error; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null; } if (MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] != null) { ArdupilotMega.MAVLink.__mavlink_sys_status_t sysstatus = new ArdupilotMega.MAVLink.__mavlink_sys_status_t(); object temp = sysstatus; MAVLink.ByteArrayToStructure(MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS], ref temp, 6); sysstatus = (ArdupilotMega.MAVLink.__mavlink_sys_status_t)(temp); string oldmode = mode; switch (sysstatus.mode) { case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_UNINIT: switch (sysstatus.nav_mode) { case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_GROUNDED: mode = "Initialising"; break; } break; case (byte)(100 + Common.ac2modes.STABILIZE): mode = "Stabilize"; break; case (byte)(100 + Common.ac2modes.ACRO): mode = "Acro"; break; case (byte)(100 + Common.ac2modes.ALT_HOLD): mode = "Alt Hold"; break; case (byte)(100 + Common.ac2modes.AUTO): mode = "Auto"; break; case (byte)(100 + Common.ac2modes.GUIDED): mode = "Guided"; break; case (byte)(100 + Common.ac2modes.LOITER): mode = "Loiter"; break; case (byte)(100 + Common.ac2modes.RTL): mode = "RTL"; break; case (byte)(100 + Common.ac2modes.CIRCLE): mode = "Circle"; break; case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_MANUAL: mode = "Manual"; break; case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_GUIDED: mode = "Guided"; break; case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST1: mode = "Stabilize"; break; case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST2: mode = "FBW A"; // fall though old switch (sysstatus.nav_mode) { case (byte)1: mode = "FBW A"; break; case (byte)2: mode = "FBW B"; break; case (byte)3: mode = "FBW C"; break; } break; case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_TEST3: mode = "FBW B"; break; case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_AUTO: switch (sysstatus.nav_mode) { case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_WAYPOINT: mode = "Auto"; break; case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_RETURNING: mode = "RTL"; break; case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_HOLD: case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LOITER: mode = "Loiter"; break; case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LIFTOFF: mode = "Takeoff"; break; case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_LANDING: mode = "Land"; break; } break; default: mode = "Unknown"; break; } battery_voltage = sysstatus.vbat; battery_remaining = sysstatus.battery_remaining; packetdropremote = sysstatus.packet_drop; if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True") { MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode"))); } //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null) { var att = new ArdupilotMega.MAVLink.__mavlink_attitude_t(); object temp = att; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE], ref temp, 6); att = (MAVLink.__mavlink_attitude_t)(temp); roll = att.roll * rad2deg; pitch = att.pitch * rad2deg; yaw = att.yaw * rad2deg; // Console.WriteLine(roll + " " + pitch + " " + yaw); //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] != null) { var gps = new MAVLink.__mavlink_gps_raw_t(); object temp = gps; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW], ref temp, 6); gps = (MAVLink.__mavlink_gps_raw_t)(temp); lat = gps.lat; lng = gps.lon; // alt = gps.alt; // using vfr as includes baro calc gpsstatus = gps.fix_type; // Console.WriteLine("gpsfix {0}",gpsstatus); gpshdop = gps.eph; groundspeed = gps.v; groundcourse = gps.hdg; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS] != null) { var gps = new MAVLink.__mavlink_gps_status_t(); object temp = gps; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS], ref temp, 6); gps = (MAVLink.__mavlink_gps_status_t)(temp); satcount = gps.satellites_visible; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT] != null) { var loc = new MAVLink.__mavlink_global_position_int_t(); object temp = loc; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT], ref temp, 6); loc = (MAVLink.__mavlink_global_position_int_t)(temp); alt = loc.alt / 1000.0f; lat = loc.lat / 10000000.0f; lng = loc.lon / 10000000.0f; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION] != null) { var loc = new MAVLink.__mavlink_global_position_t(); object temp = loc; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION], ref temp, 6); loc = (MAVLink.__mavlink_global_position_t)(temp); alt = loc.alt; lat = loc.lat; lng = loc.lon; } if (MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] != null) { ArdupilotMega.MAVLink.__mavlink_waypoint_current_t wpcur = new ArdupilotMega.MAVLink.__mavlink_waypoint_current_t(); object temp = wpcur; MAVLink.ByteArrayToStructure(MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT], ref temp, 6); wpcur = (ArdupilotMega.MAVLink.__mavlink_waypoint_current_t)(temp); int oldwp = (int)wpno; wpno = wpcur.seq; if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True") { MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint"))); } //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] != null) { var rcin = new MAVLink.__mavlink_rc_channels_raw_t(); object temp = rcin; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW], ref temp, 6); rcin = (MAVLink.__mavlink_rc_channels_raw_t)(temp); ch1in = rcin.chan1_raw; ch2in = rcin.chan2_raw; ch3in = rcin.chan3_raw; ch4in = rcin.chan4_raw; ch5in = rcin.chan5_raw; ch6in = rcin.chan6_raw; ch7in = rcin.chan7_raw; ch8in = rcin.chan8_raw; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] != null) { var servoout = new MAVLink.__mavlink_servo_output_raw_t(); object temp = servoout; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW], ref temp, 6); servoout = (MAVLink.__mavlink_servo_output_raw_t)(temp); ch1out = servoout.servo1_raw; ch2out = servoout.servo2_raw; ch3out = servoout.servo3_raw; ch4out = servoout.servo4_raw; ch5out = servoout.servo5_raw; ch6out = servoout.servo6_raw; ch7out = servoout.servo7_raw; ch8out = servoout.servo8_raw; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] != null) { var imu = new MAVLink.__mavlink_raw_imu_t(); object temp = imu; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU], ref temp, 6); imu = (MAVLink.__mavlink_raw_imu_t)(temp); gx = imu.xgyro; gy = imu.ygyro; gz = imu.zgyro; ax = imu.xacc; ay = imu.yacc; az = imu.zacc; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU] != null) { var imu = new MAVLink.__mavlink_scaled_imu_t(); object temp = imu; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU], ref temp, 6); imu = (MAVLink.__mavlink_scaled_imu_t)(temp); gx = imu.xgyro; gy = imu.ygyro; gz = imu.zgyro; ax = imu.xacc; ay = imu.yacc; az = imu.zacc; //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] != null) { MAVLink.__mavlink_vfr_hud_t vfr = new MAVLink.__mavlink_vfr_hud_t(); object temp = vfr; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD], ref temp, 6); vfr = (MAVLink.__mavlink_vfr_hud_t)(temp); groundspeed = vfr.groundspeed; airspeed = vfr.airspeed; alt = vfr.alt; // this might include baro //climbrate = vfr.climb; if ((DateTime.Now - lastalt).TotalSeconds >= 0.1 && oldalt != alt) { climbrate = (alt - oldalt) / (float)(DateTime.Now - lastalt).TotalSeconds; verticalspeed = (alt - oldalt) / (float)(DateTime.Now - lastalt).TotalSeconds; if (float.IsInfinity(_verticalspeed)) _verticalspeed = 0; lastalt = DateTime.Now; oldalt = alt; } //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] = null; } if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO] != null) // hil { var mem = new ArdupilotMega.MAVLink.__mavlink_meminfo_t(); object temp = mem; MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO], ref temp, 6); mem = (MAVLink.__mavlink_meminfo_t)(temp); freemem = mem.freemem; brklevel = mem.brkval; } } //Console.WriteLine(DateTime.Now.Millisecond + " start "); // update form try { if (bs != null) { //Console.WriteLine(DateTime.Now.Millisecond); bs.DataSource = this; //Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow); bs.ResetBindings(false); //Console.WriteLine(DateTime.Now.Millisecond + " done "); } } catch { Console.WriteLine("CurrentState Binding error"); } } public object Clone() { return this.MemberwiseClone(); } public void dowindcalc() { //Wind Fixed gain Observer //Ryan Beall //8FEB10 double Kw = 0.010; // 0.01 // 0.10 if (airspeed < 1 || groundspeed < 1) return; double Wn_error = airspeed * Math.Cos((yaw) * deg2rad) * Math.Cos(pitch * deg2rad) - groundspeed * Math.Cos((groundcourse) * deg2rad) - Wn_fgo; double We_error = airspeed * Math.Sin((yaw) * deg2rad) * Math.Cos(pitch * deg2rad) - groundspeed * Math.Sin((groundcourse) * deg2rad) - We_fgo; Wn_fgo = Wn_fgo + Kw * Wn_error; We_fgo = We_fgo + Kw * We_error; double wind_dir = (Math.Atan2(We_fgo, Wn_fgo) * (180 / Math.PI)); double wind_vel = (Math.Sqrt(Math.Pow(We_fgo,2) + Math.Pow(Wn_fgo,2))); wind_dir = (wind_dir + 360) % 360; this.wind_dir = (float)wind_dir;// (float)(wind_dir * 0.5 + this.wind_dir * 0.5); this.wind_vel = (float)wind_vel;// (float)(wind_vel * 0.5 + this.wind_vel * 0.5); //Console.WriteLine("Wn_error = {0}\nWe_error = {1}\nWn_fgo = {2}\nWe_fgo = {3}\nWind_dir = {4}\nWind_vel = {5}\n",Wn_error,We_error,Wn_fgo,We_fgo,wind_dir,wind_vel); //Console.WriteLine("wind_dir: {0} wind_vel: {1} as {4} yaw {5} pitch {6} gs {7} cog {8}", wind_dir, wind_vel, Wn_fgo, We_fgo , airspeed,yaw,pitch,groundspeed,groundcourse); //low pass the outputs for better results! } } }