mirror of https://github.com/ArduPilot/ardupilot
210 lines
9.2 KiB
Python
210 lines
9.2 KiB
Python
#!/usr/bin/env python
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# parse and construct FlightGear NET FDM packets
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# Andrew Tridgell, November 2011
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# released under GNU GPL version 2 or later
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import struct, math
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class fgFDMError(Exception):
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'''fgFDM error class'''
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def __init__(self, msg):
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Exception.__init__(self, msg)
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self.message = 'fgFDMError: ' + msg
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class fgFDMVariable(object):
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'''represent a single fgFDM variable'''
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def __init__(self, index, arraylength, units):
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self.index = index
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self.arraylength = arraylength
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self.units = units
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class fgFDMVariableList(object):
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'''represent a list of fgFDM variable'''
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def __init__(self):
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self.vars = {}
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self._nextidx = 0
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def add(self, varname, arraylength=1, units=None):
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self.vars[varname] = fgFDMVariable(self._nextidx, arraylength, units=units)
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self._nextidx += arraylength
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class fgFDM(object):
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'''a flightgear native FDM parser/generator'''
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def __init__(self):
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'''init a fgFDM object'''
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self.FG_NET_FDM_VERSION = 24
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self.pack_string = '>I 4x 3d 6f 11f 3f 2f I 4I 4f 4f 4f 4f 4f 4f 4f 4f 4f I 4f I 3I 3f 3f 3f I i f 10f'
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self.values = [0]*98
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self.FG_MAX_ENGINES = 4
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self.FG_MAX_WHEELS = 3
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self.FG_MAX_TANKS = 4
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# supported unit mappings
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self.unitmap = {
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('radians', 'degrees') : math.degrees(1),
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('rps', 'dps') : math.degrees(1),
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('feet', 'meters') : 0.3048,
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('fps', 'mps') : 0.3048,
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('knots', 'mps') : 0.514444444,
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('knots', 'fps') : 0.514444444/0.3048,
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('fpss', 'mpss') : 0.3048,
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('seconds', 'minutes') : 60,
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('seconds', 'hours') : 3600,
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}
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# build a mapping between variable name and index in the values array
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# note that the order of this initialisation is critical - it must
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# match the wire structure
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self.mapping = fgFDMVariableList()
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self.mapping.add('version')
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# position
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self.mapping.add('longitude', units='radians') # geodetic (radians)
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self.mapping.add('latitude', units='radians') # geodetic (radians)
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self.mapping.add('altitude', units='meters') # above sea level (meters)
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self.mapping.add('agl', units='meters') # above ground level (meters)
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# attitude
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self.mapping.add('phi', units='radians') # roll (radians)
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self.mapping.add('theta', units='radians') # pitch (radians)
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self.mapping.add('psi', units='radians') # yaw or true heading (radians)
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self.mapping.add('alpha', units='radians') # angle of attack (radians)
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self.mapping.add('beta', units='radians') # side slip angle (radians)
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# Velocities
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self.mapping.add('phidot', units='rps') # roll rate (radians/sec)
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self.mapping.add('thetadot', units='rps') # pitch rate (radians/sec)
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self.mapping.add('psidot', units='rps') # yaw rate (radians/sec)
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self.mapping.add('vcas', units='fps') # calibrated airspeed
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self.mapping.add('climb_rate', units='fps') # feet per second
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self.mapping.add('v_north', units='fps') # north velocity in local/body frame, fps
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self.mapping.add('v_east', units='fps') # east velocity in local/body frame, fps
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self.mapping.add('v_down', units='fps') # down/vertical velocity in local/body frame, fps
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self.mapping.add('v_wind_body_north', units='fps') # north velocity in local/body frame
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self.mapping.add('v_wind_body_east', units='fps') # east velocity in local/body frame
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self.mapping.add('v_wind_body_down', units='fps') # down/vertical velocity in local/body
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# Accelerations
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self.mapping.add('A_X_pilot', units='fpss') # X accel in body frame ft/sec^2
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self.mapping.add('A_Y_pilot', units='fpss') # Y accel in body frame ft/sec^2
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self.mapping.add('A_Z_pilot', units='fpss') # Z accel in body frame ft/sec^2
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# Stall
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self.mapping.add('stall_warning') # 0.0 - 1.0 indicating the amount of stall
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self.mapping.add('slip_deg', units='degrees') # slip ball deflection
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# Engine status
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self.mapping.add('num_engines') # Number of valid engines
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self.mapping.add('eng_state', self.FG_MAX_ENGINES) # Engine state (off, cranking, running)
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self.mapping.add('rpm', self.FG_MAX_ENGINES) # Engine RPM rev/min
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self.mapping.add('fuel_flow', self.FG_MAX_ENGINES) # Fuel flow gallons/hr
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self.mapping.add('fuel_px', self.FG_MAX_ENGINES) # Fuel pressure psi
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self.mapping.add('egt', self.FG_MAX_ENGINES) # Exhuast gas temp deg F
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self.mapping.add('cht', self.FG_MAX_ENGINES) # Cylinder head temp deg F
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self.mapping.add('mp_osi', self.FG_MAX_ENGINES) # Manifold pressure
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self.mapping.add('tit', self.FG_MAX_ENGINES) # Turbine Inlet Temperature
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self.mapping.add('oil_temp', self.FG_MAX_ENGINES) # Oil temp deg F
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self.mapping.add('oil_px', self.FG_MAX_ENGINES) # Oil pressure psi
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# Consumables
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self.mapping.add('num_tanks') # Max number of fuel tanks
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self.mapping.add('fuel_quantity', self.FG_MAX_TANKS)
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# Gear status
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self.mapping.add('num_wheels')
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self.mapping.add('wow', self.FG_MAX_WHEELS)
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self.mapping.add('gear_pos', self.FG_MAX_WHEELS)
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self.mapping.add('gear_steer', self.FG_MAX_WHEELS)
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self.mapping.add('gear_compression', self.FG_MAX_WHEELS)
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# Environment
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self.mapping.add('cur_time', units='seconds') # current unix time
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self.mapping.add('warp', units='seconds') # offset in seconds to unix time
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self.mapping.add('visibility', units='meters') # visibility in meters (for env. effects)
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# Control surface positions (normalized values)
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self.mapping.add('elevator')
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self.mapping.add('elevator_trim_tab')
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self.mapping.add('left_flap')
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self.mapping.add('right_flap')
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self.mapping.add('left_aileron')
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self.mapping.add('right_aileron')
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self.mapping.add('rudder')
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self.mapping.add('nose_wheel')
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self.mapping.add('speedbrake')
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self.mapping.add('spoilers')
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self._packet_size = struct.calcsize(self.pack_string)
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self.set('version', self.FG_NET_FDM_VERSION)
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if len(self.values) != self.mapping._nextidx:
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raise fgFDMError('Invalid variable list in initialisation')
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def packet_size(self):
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'''return expected size of FG FDM packets'''
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return self._packet_size
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def convert(self, value, fromunits, tounits):
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'''convert a value from one set of units to another'''
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if fromunits == tounits:
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return value
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if (fromunits,tounits) in self.unitmap:
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return value * self.unitmap[(fromunits,tounits)]
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if (tounits,fromunits) in self.unitmap:
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return value / self.unitmap[(tounits,fromunits)]
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raise fgFDMError("unknown unit mapping (%s,%s)" % (fromunits, tounits))
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def units(self, varname):
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'''return the default units of a variable'''
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if not varname in self.mapping.vars:
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raise fgFDMError('Unknown variable %s' % varname)
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return self.mapping.vars[varname].units
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def variables(self):
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'''return a list of available variables'''
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return sorted(self.mapping.vars.keys(),
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key = lambda v : self.mapping.vars[v].index)
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def get(self, varname, idx=0, units=None):
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'''get a variable value'''
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if not varname in self.mapping.vars:
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raise fgFDMError('Unknown variable %s' % varname)
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if idx >= self.mapping.vars[varname].arraylength:
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raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
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varname, idx, self.mapping.vars[varname].arraylength))
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value = self.values[self.mapping.vars[varname].index + idx]
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if units:
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value = self.convert(value, self.mapping.vars[varname].units, units)
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return value
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def set(self, varname, value, idx=0, units=None):
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'''set a variable value'''
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if not varname in self.mapping.vars:
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raise fgFDMError('Unknown variable %s' % varname)
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if idx >= self.mapping.vars[varname].arraylength:
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raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
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varname, idx, self.mapping.vars[varname].arraylength))
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if units:
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value = self.convert(value, units, self.mapping.vars[varname].units)
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self.values[self.mapping.vars[varname].index + idx] = value
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def parse(self, buf):
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'''parse a FD FDM buffer'''
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try:
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t = struct.unpack(self.pack_string, buf)
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except struct.error, msg:
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raise fgFDMError('unable to parse - %s' % msg)
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self.values = list(t)
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def pack(self):
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'''pack a FD FDM buffer from current values'''
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for i in range(len(self.values)):
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if math.isnan(self.values[i]):
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self.values[i] = 0
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return struct.pack(self.pack_string, *self.values)
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