/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* simulator connection for ardupilot version of Xplane */ #pragma once #include #ifndef HAL_SIM_XPLANE_ENABLED #define HAL_SIM_XPLANE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) #endif #if HAL_SIM_XPLANE_ENABLED #include #include "SIM_Aircraft.h" namespace SITL { /* a Xplane simulator */ class XPlane : public Aircraft { public: XPlane(const char *frame_str); /* update model by one time step */ void update(const struct sitl_input &input) override; /* static object creator */ static Aircraft *create(const char *frame_str) { return new XPlane(frame_str); } private: bool receive_data(void); void send_dref(const char *name, float value); void send_data(const struct sitl_input &input); void select_data(uint64_t usel_mask, uint64_t sel_mask); const char *xplane_ip = "127.0.0.1"; uint16_t xplane_port = 49000; uint16_t bind_port = 49001; // udp socket, input and output SocketAPM socket_in{true}; SocketAPM socket_out{true}; uint64_t time_base_us; uint32_t last_data_time_ms; Vector3d position_zero; Vector3f accel_earth; float throttle_sent = -1; bool connected = false; uint32_t xplane_frame_time; struct { uint32_t last_report_ms; uint32_t data_count; uint32_t frame_count; } report; float last_flap; // are we controlling a heli? bool heli_frame; uint64_t unselected_mask; // throttle joystick input is very weird. See comments in the main code const float throttle_magic = 0.000123f; const float throttle_magic_scale = 1.0e6; // DATA@ frame types. Thanks to TauLabs xplanesimulator.h // (which strangely enough acknowledges APM as a source!) enum { FramRate = 0, Times = 1, SimStats = 2, Speed = 3, Gload = 4, AtmosphereWeather = 5, AtmosphereAircraft = 6, SystemPressures = 7, Joystick1 = 8, Joystick2 = 9, ArtStab = 10, FlightCon = 11, WingSweep = 12, Trim = 13, Brakes = 14, AngularMoments = 15, AngularVelocities = 16, PitchRollHeading = 17, AoA = 18, MagCompass = 19, LatLonAlt = 20, LocVelDistTraveled = 21, ThrottleCommand = 25, Mixture = 29, CarbHeat = 30, EngineRPM = 37, PropRPM = 38, PropPitch = 39, Generator = 58, }; }; } // namespace SITL #endif // HAL_SIM_XPLANE_ENABLED