mirror of https://github.com/ArduPilot/ardupilot
904 lines
37 KiB
C#
904 lines
37 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Text;
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using System.ComponentModel;
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using ArdupilotMega.Mavlink;
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using log4net;
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namespace ArdupilotMega
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{
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public class CurrentState : ICloneable
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{
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private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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// multipliers
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public float multiplierdist = 1;
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public float multiplierspeed = 1;
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// orientation - rads
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public float roll { get; set; }
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public float pitch { get; set; }
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public float yaw { get { return _yaw; } set { if (value < 0) { _yaw = value + 360; } else { _yaw = value; } } }
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private float _yaw = 0;
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public float groundcourse { get { return _groundcourse; } set { if (value < 0) { _groundcourse = value + 360; } else { _groundcourse = value; } } }
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private float _groundcourse = 0;
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/// <summary>
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/// time over target in seconds
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/// </summary>
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public int tot { get { if (groundspeed <= 0) return 0; return (int)(wp_dist / groundspeed); } }
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// speeds
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public float airspeed { get { return _airspeed * multiplierspeed; } set { _airspeed = value; } }
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public float groundspeed { get { return _groundspeed * multiplierspeed; } set { _groundspeed = value; } }
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float _airspeed;
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float _groundspeed;
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float _verticalspeed;
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public float verticalspeed { get { if (float.IsNaN(_verticalspeed)) _verticalspeed = 0; return _verticalspeed; } set { _verticalspeed = _verticalspeed * 0.8f + value * 0.2f; } }
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public float wind_dir { get; set; }
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public float wind_vel { get; set; }
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/// <summary>
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/// used in wind calc
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/// </summary>
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double Wn_fgo;
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/// <summary>
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/// used for wind calc
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/// </summary>
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double We_fgo;
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//(alt_now - alt_then)/(time_now-time_then)
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// position
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public float lat { get; set; }
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public float lng { get; set; }
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public float alt { get { return (_alt - altoffsethome) * multiplierdist; } set { _alt = value; } }
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DateTime lastalt = DateTime.Now;
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float oldalt = 0;
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public float altoffsethome { get; set; }
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private float _alt = 0;
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public float gpsstatus { get; set; }
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public float gpshdop { get; set; }
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public float satcount { get; set; }
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public float altd1000 { get { return (alt / 1000) % 10; } }
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public float altd100 { get { return (alt / 100) % 10; } }
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// accel
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public float ax { get; set; }
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public float ay { get; set; }
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public float az { get; set; }
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// gyro
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public float gx { get; set; }
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public float gy { get; set; }
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public float gz { get; set; }
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// mag
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public float mx { get; set; }
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public float my { get; set; }
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public float mz { get; set; }
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// calced turn rate
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public float turnrate { get { if (groundspeed <= 1) return 0; return (roll * 9.8f) / groundspeed; } }
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//radio
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public float ch1in { get; set; }
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public float ch2in { get; set; }
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public float ch3in { get; set; }
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public float ch4in { get; set; }
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public float ch5in { get; set; }
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public float ch6in { get; set; }
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public float ch7in { get; set; }
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public float ch8in { get; set; }
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// motors
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public float ch1out { get; set; }
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public float ch2out { get; set; }
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public float ch3out { get; set; }
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public float ch4out { get; set; }
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public float ch5out { get; set; }
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public float ch6out { get; set; }
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public float ch7out { get; set; }
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public float ch8out { get; set; }
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public float ch3percent
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{
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get
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{
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try
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{
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if (MainV2.comPort.param.ContainsKey("RC3_MIN"))
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{
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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);
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}
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else
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{
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return 0;
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}
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}
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catch
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{
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return 0;
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}
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}
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}
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//nav state
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public float nav_roll { get; set; }
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public float nav_pitch { get; set; }
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public float nav_bearing { get; set; }
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public float target_bearing { get; set; }
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public float wp_dist { get { return (_wpdist * multiplierdist); } set { _wpdist = value; } }
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public float alt_error { get { return _alt_error * multiplierdist; } set { _alt_error = value; } }
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public float ber_error { get { return (target_bearing - yaw); } set { } }
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public float aspd_error { get { return _aspd_error * multiplierspeed; } set { _aspd_error = value; } }
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public float xtrack_error { get; set; }
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public float wpno { get; set; }
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public string mode { get; set; }
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public float climbrate { get; set; }
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float _wpdist;
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float _aspd_error;
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float _alt_error;
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public float targetaltd100 { get { return ((alt + alt_error) / 100) % 10; } }
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public float targetalt { get { return (float)Math.Round(alt + alt_error, 0); } }
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//airspeed_error = (airspeed_error - airspeed);
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public float targetairspeed { get { return (float)Math.Round(airspeed + aspd_error / 100, 0); } }
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//message
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public List<string> messages { get; set; }
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public string message { get { if (messages.Count == 0) return ""; return messages[messages.Count - 1]; } set { } }
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//battery
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public float battery_voltage { get { return _battery_voltage; } set { _battery_voltage = value / 1000; } }
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private float _battery_voltage;
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public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; if (_battery_remaining < 0 || _battery_remaining > 1) _battery_remaining = 0; } }
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private float _battery_remaining;
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// pressure
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public float press_abs { get; set; }
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public int press_temp { get; set; }
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// sensor offsets
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public int mag_ofs_x { get; set; }
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public int mag_ofs_y { get; set; }
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public int mag_ofs_z { get; set; }
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public float mag_declination { get; set; }
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public int raw_press { get; set; }
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public int raw_temp { get; set; }
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public float gyro_cal_x { get; set; }
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public float gyro_cal_y { get; set; }
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public float gyro_cal_z { get; set; }
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public float accel_cal_x { get; set; }
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public float accel_cal_y { get; set; }
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public float accel_cal_z { get; set; }
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// HIL
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public int hilch1 { get; set; }
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public int hilch2 { get; set; }
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public int hilch3 { get; set; }
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public int hilch4 { get; set; }
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public int hilch5;
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public int hilch6;
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public int hilch7;
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public int hilch8;
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// rc override
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public ushort rcoverridech1 { get; set; }
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public ushort rcoverridech2 { get; set; }
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public ushort rcoverridech3 { get; set; }
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public ushort rcoverridech4 { get; set; }
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public ushort rcoverridech5 { get; set; }
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public ushort rcoverridech6 { get; set; }
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public ushort rcoverridech7 { get; set; }
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public ushort rcoverridech8 { get; set; }
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internal PointLatLngAlt HomeLocation = new PointLatLngAlt();
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public float DistToMAV
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{
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get
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{
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// shrinking factor for longitude going to poles direction
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double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925;
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double scaleLongDown = Math.Cos(rads);
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double scaleLongUp = 1.0f / Math.Cos(rads);
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//DST to Home
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double dstlat = Math.Abs(HomeLocation.Lat - lat) * 111319.5;
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double dstlon = Math.Abs(HomeLocation.Lng - lng) * 111319.5 * scaleLongDown;
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return (float)Math.Sqrt((dstlat * dstlat) + (dstlon * dstlon));
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}
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}
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public float ELToMAV
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{
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get
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{
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float dist = DistToMAV;
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float altdiff = (float)(alt - HomeLocation.Alt);
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float angle = (float)Math.Atan(altdiff / dist) * rad2deg;
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return angle;
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}
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}
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public float AZToMAV
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{
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get
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{
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// shrinking factor for longitude going to poles direction
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double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925;
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double scaleLongDown = Math.Cos(rads);
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double scaleLongUp = 1.0f / Math.Cos(rads);
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//DIR to Home
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double dstlon = (HomeLocation.Lng - lng); //OffSet_X
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double dstlat = (HomeLocation.Lat - lat) * scaleLongUp; //OffSet Y
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double bearing = 90 + (Math.Atan2(dstlat, -dstlon) * 57.295775); //absolut home direction
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if (bearing < 0) bearing += 360;//normalization
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//bearing = bearing - 180;//absolut return direction
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//if (bearing < 0) bearing += 360;//normalization
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return (float)bearing;
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}
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}
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// current firmware
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public MainV2.Firmwares firmware = MainV2.Firmwares.ArduPlane;
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public float freemem { get; set; }
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public float brklevel { get; set; }
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public int armed { get; set; }
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// stats
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public ushort packetdropremote { get; set; }
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public ushort linkqualitygcs { get; set; }
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// requested stream rates
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public byte rateattitude { get; set; }
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public byte rateposition { get; set; }
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public byte ratestatus { get; set; }
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public byte ratesensors { get; set; }
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public byte raterc { get; set; }
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// reference
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public DateTime datetime { get; set; }
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public CurrentState()
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{
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mode = "";
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messages = new List<string>();
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rateattitude = 10;
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rateposition = 3;
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ratestatus = 1;
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ratesensors = 3;
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raterc = 3;
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datetime = DateTime.MinValue;
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}
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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private DateTime lastupdate = DateTime.Now;
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private DateTime lastwindcalc = DateTime.Now;
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public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs)
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{
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UpdateCurrentSettings(bs, false, MainV2.comPort);
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}
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/*
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public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
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{
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UpdateCurrentSettings(bs, false, MainV2.comPort);
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}
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*/
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public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
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{
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if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz
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{
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lastupdate = DateTime.Now;
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if (DateTime.Now.Second != lastwindcalc.Second)
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{
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lastwindcalc = DateTime.Now;
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dowindcalc();
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}
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if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text
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{
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string logdata = DateTime.Now + " " + Encoding.ASCII.GetString(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
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int ind = logdata.IndexOf('\0');
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if (ind != -1)
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logdata = logdata.Substring(0, ind);
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try
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{
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while (messages.Count > 5)
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{
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messages.RemoveAt(0);
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}
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messages.Add(logdata + "\n");
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}
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catch { }
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mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
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}
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byte[] bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
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if (bytearray != null) // hil
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{
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var hil = bytearray.ByteArrayToStructure<MAVLink.__mavlink_rc_channels_scaled_t>(6);
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hilch1 = hil.chan1_scaled;
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hilch2 = hil.chan2_scaled;
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hilch3 = hil.chan3_scaled;
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hilch4 = hil.chan4_scaled;
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hilch5 = hil.chan5_scaled;
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hilch6 = hil.chan6_scaled;
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hilch7 = hil.chan7_scaled;
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hilch8 = hil.chan8_scaled;
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//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
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}
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bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
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if (bytearray != null)
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{
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var nav = bytearray.ByteArrayToStructure<MAVLink.__mavlink_nav_controller_output_t>(6);
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nav_roll = nav.nav_roll;
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nav_pitch = nav.nav_pitch;
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nav_bearing = nav.nav_bearing;
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target_bearing = nav.target_bearing;
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wp_dist = nav.wp_dist;
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alt_error = nav.alt_error;
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aspd_error = nav.aspd_error;
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xtrack_error = nav.xtrack_error;
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//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
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}
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#if MAVLINK10
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bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
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if (bytearray != null)
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{
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var hb = bytearray.ByteArrayToStructure<MAVLink.__mavlink_heartbeat_t>(6);
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string oldmode = mode;
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mode = "Unknown";
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if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) != 0)
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{
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if (hb.type == (byte)MAVLink.MAV_TYPE.MAV_TYPE_FIXED_WING)
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{
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switch (hb.custom_mode)
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{
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case (byte)(Common.apmmodes.MANUAL):
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mode = "Manual";
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break;
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case (byte)(Common.apmmodes.GUIDED):
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mode = "Guided";
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break;
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case (byte)(Common.apmmodes.STABILIZE):
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mode = "Stabilize";
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break;
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case (byte)(Common.apmmodes.FLY_BY_WIRE_A):
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mode = "FBW A";
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break;
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case (byte)(Common.apmmodes.FLY_BY_WIRE_B):
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mode = "FBW B";
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break;
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case (byte)(Common.apmmodes.AUTO):
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mode = "Auto";
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break;
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case (byte)(Common.apmmodes.RTL):
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mode = "RTL";
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break;
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case (byte)(Common.apmmodes.LOITER):
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mode = "Loiter";
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break;
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case (byte)(Common.apmmodes.CIRCLE):
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mode = "Circle";
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break;
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default:
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mode = "Unknown";
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break;
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}
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}
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else if (hb.type == (byte)MAVLink.MAV_TYPE.MAV_TYPE_QUADROTOR)
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{
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switch (hb.custom_mode)
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{
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case (byte)(Common.ac2modes.STABILIZE):
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mode = "Stabilize";
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break;
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case (byte)(Common.ac2modes.ACRO):
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mode = "Acro";
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break;
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case (byte)(Common.ac2modes.ALT_HOLD):
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mode = "Alt Hold";
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break;
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case (byte)(Common.ac2modes.AUTO):
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mode = "Auto";
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break;
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case (byte)(Common.ac2modes.GUIDED):
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mode = "Guided";
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break;
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case (byte)(Common.ac2modes.LOITER):
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mode = "Loiter";
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break;
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case (byte)(Common.ac2modes.RTL):
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mode = "RTL";
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break;
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case (byte)(Common.ac2modes.CIRCLE):
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mode = "Circle";
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break;
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case (byte)(Common.ac2modes.LAND):
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mode = "Land";
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break;
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default:
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mode = "Unknown";
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break;
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}
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}
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}
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if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True")
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{
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MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
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}
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}
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bytearray = mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
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if (bytearray != null)
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{
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var sysstatus = bytearray.ByteArrayToStructure<MAVLink.__mavlink_sys_status_t>(6);
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battery_voltage = sysstatus.voltage_battery;
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battery_remaining = sysstatus.battery_remaining;
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packetdropremote = sysstatus.drop_rate_comm;
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//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
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}
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#else
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bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
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if (bytearray != null)
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{
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var sysstatus = bytearray.ByteArrayToStructure<MAVLink.__mavlink_sys_status_t>(6);
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armed = sysstatus.status;
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string oldmode = mode;
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switch (sysstatus.mode)
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{
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case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_UNINIT:
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switch (sysstatus.nav_mode)
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{
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case (byte)ArdupilotMega.MAVLink.MAV_NAV.MAV_NAV_GROUNDED:
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mode = "Initialising";
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|
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)(100 + Common.ac2modes.LAND):
|
|
mode = "Land";
|
|
break;
|
|
case (byte)(100 + Common.ac2modes.POSITION):
|
|
mode = "Position";
|
|
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 = "Circle";
|
|
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.talk != null && MainV2.getConfig("speechmodeenabled") == "True")
|
|
{
|
|
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
|
|
}
|
|
|
|
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
|
|
}
|
|
#endif
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
|
|
if (bytearray != null)
|
|
{
|
|
var pres = bytearray.ByteArrayToStructure<MAVLink.__mavlink_scaled_pressure_t>(6);
|
|
press_abs = pres.press_abs;
|
|
press_temp = pres.temperature;
|
|
}
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
|
|
if (bytearray != null)
|
|
{
|
|
var sensofs = bytearray.ByteArrayToStructure<MAVLink.__mavlink_sensor_offsets_t>(6);
|
|
|
|
mag_ofs_x = sensofs.mag_ofs_x;
|
|
mag_ofs_y = sensofs.mag_ofs_y;
|
|
mag_ofs_z = sensofs.mag_ofs_z;
|
|
mag_declination = sensofs.mag_declination;
|
|
|
|
raw_press = sensofs.raw_press;
|
|
raw_temp = sensofs.raw_temp;
|
|
|
|
gyro_cal_x = sensofs.gyro_cal_x;
|
|
gyro_cal_y = sensofs.gyro_cal_y;
|
|
gyro_cal_z = sensofs.gyro_cal_z;
|
|
|
|
accel_cal_x = sensofs.accel_cal_x;
|
|
accel_cal_y = sensofs.accel_cal_y;
|
|
accel_cal_z = sensofs.accel_cal_z;
|
|
|
|
}
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
|
|
|
|
if (bytearray != null)
|
|
{
|
|
var att = bytearray.ByteArrayToStructure<MAVLink.__mavlink_attitude_t>(6);
|
|
|
|
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 MAVLINK10
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
|
|
if (bytearray != null)
|
|
{
|
|
var gps = bytearray.ByteArrayToStructure<MAVLink.__mavlink_gps_raw_int_t>(6);
|
|
|
|
lat = gps.lat * 1.0e-7f;
|
|
lng = gps.lon * 1.0e-7f;
|
|
// alt = gps.alt; // using vfr as includes baro calc
|
|
|
|
gpsstatus = gps.fix_type;
|
|
// Console.WriteLine("gpsfix {0}",gpsstatus);
|
|
|
|
gpshdop = gps.eph;
|
|
|
|
groundspeed = gps.vel * 1.0e-2f;
|
|
groundcourse = gps.cog * 1.0e-2f;
|
|
|
|
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
|
|
}
|
|
#else
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW];
|
|
if (bytearray != null)
|
|
{
|
|
var gps = bytearray.ByteArrayToStructure<MAVLink.__mavlink_gps_raw_t>(6);
|
|
|
|
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;
|
|
}
|
|
#endif
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
|
|
if (bytearray != null)
|
|
{
|
|
var gps = bytearray.ByteArrayToStructure<MAVLink.__mavlink_gps_status_t>(6);
|
|
satcount = gps.satellites_visible;
|
|
}
|
|
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
|
|
if (bytearray != null)
|
|
{
|
|
var loc = bytearray.ByteArrayToStructure<MAVLink.__mavlink_global_position_int_t>(6);
|
|
|
|
//alt = loc.alt / 1000.0f;
|
|
lat = loc.lat / 10000000.0f;
|
|
lng = loc.lon / 10000000.0f;
|
|
}
|
|
#if MAVLINK10
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
|
|
if (bytearray != null)
|
|
{
|
|
var wpcur = bytearray.ByteArrayToStructure<MAVLink.__mavlink_mission_current_t>(6);
|
|
|
|
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;
|
|
}
|
|
#else
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION];
|
|
if (bytearray != null)
|
|
{
|
|
var loc = bytearray.ByteArrayToStructure<MAVLink.__mavlink_global_position_t>(6);
|
|
alt = loc.alt;
|
|
lat = loc.lat;
|
|
lng = loc.lon;
|
|
}
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT];
|
|
if (bytearray != null)
|
|
{
|
|
var wpcur = bytearray.ByteArrayToStructure<MAVLink.__mavlink_waypoint_current_t>(6);
|
|
|
|
int oldwp = (int)wpno;
|
|
|
|
wpno = wpcur.seq;
|
|
|
|
if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True")
|
|
{
|
|
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
|
|
}
|
|
|
|
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
|
|
}
|
|
|
|
#endif
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
|
|
if (bytearray != null)
|
|
{
|
|
var rcin = bytearray.ByteArrayToStructure<MAVLink.__mavlink_rc_channels_raw_t>(6);
|
|
|
|
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;
|
|
}
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
|
|
if (bytearray != null)
|
|
{
|
|
var servoout = bytearray.ByteArrayToStructure<MAVLink.__mavlink_servo_output_raw_t>(6);
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
|
|
if (bytearray != null)
|
|
{
|
|
var imu = bytearray.ByteArrayToStructure<MAVLink.__mavlink_raw_imu_t>(6);
|
|
|
|
gx = imu.xgyro;
|
|
gy = imu.ygyro;
|
|
gz = imu.zgyro;
|
|
|
|
ax = imu.xacc;
|
|
ay = imu.yacc;
|
|
az = imu.zacc;
|
|
|
|
mx = imu.xmag;
|
|
my = imu.ymag;
|
|
mz = imu.zmag;
|
|
|
|
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
|
|
}
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
|
|
if (bytearray != null)
|
|
{
|
|
var imu = bytearray.ByteArrayToStructure<MAVLink.__mavlink_scaled_imu_t>(6);
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
|
|
if (bytearray != null)
|
|
{
|
|
var vfr = bytearray.ByteArrayToStructure<MAVLink.__mavlink_vfr_hud_t>(6);
|
|
|
|
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;
|
|
}
|
|
|
|
bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
|
|
if (bytearray != null)
|
|
{
|
|
var mem = bytearray.ByteArrayToStructure<MAVLink.__mavlink_meminfo_t>(6);
|
|
freemem = mem.freemem;
|
|
brklevel = mem.brkval;
|
|
}
|
|
}
|
|
|
|
//Console.WriteLine(DateTime.Now.Millisecond + " start ");
|
|
// update form
|
|
try
|
|
{
|
|
if (bs != null)
|
|
{
|
|
//System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
|
|
//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 { log.InfoFormat("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!
|
|
}
|
|
}
|
|
} |