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ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

2178 lines
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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 log4net;
using ZedGraph; // Graphs
using ArdupilotMega;
using System.Reflection;
using ArdupilotMega.Controls;
using System.Drawing.Drawing2D;
// Written by Michael Oborne
namespace ArdupilotMega.GCSViews
{
public partial class Simulation : MyUserControl
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
IMAVLink comPort = MainV2.comPort;
UdpClient XplanesSEND;
UdpClient MavLink;
Socket SimulatorRECV;
TcpClient JSBSimSEND;
UdpClient SITLSEND;
EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
byte[] udpdata = new byte[113 * 9 + 5]; // 113 types - 9 items per type (index+8) + 5 byte header
float[][] DATA = new float[113][];
TDataFromAeroSimRC aeroin = new TDataFromAeroSimRC();
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;
// gps buffer
int gpsbufferindex = 0;
#if !MAVLINK10
ArdupilotMega.MAVLink.mavlink_gps_raw_t[] gpsbuffer = new MAVLink.mavlink_gps_raw_t[5];
#else
ArdupilotMega.MAVLink.mavlink_gps_raw_int_t[] gpsbuffer = new MAVLink.mavlink_gps_raw_int_t[5];
#endif
// 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;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct sitldata
{
public double lat;
public double lon;
public double alt;
public double heading;
public double v_north;
public double v_east;
public double ax;
public double ay;
public double az;
public double phidot;
public double thetadot;
public double psidot;
public double phi;
public double theta;
/// <summary>
/// heading
/// </summary>
public double psi;
public double vcas;
public int check;
}
const int AEROSIMRC_MAX_CHANNELS = 39;
//-----------------------------------------------------------------------------
// Two main data structures are used. This is the first one:
//
// This data struct is filled by AeroSIM RC with the simulation data, and sent to the plugin
//-----------------------------------------------------------------------------
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct TDataFromAeroSimRC
{
public ushort nStructSize; // size in bytes of TDataFromAeroSimRC
//---------------------
// Integration Time
//---------------------
public float Simulation_fIntegrationTimeStep; // integration time step in seconds. This is the simulated time since last call to AeroSIMRC_Plugin_Run()
//---------------------
// Channels
//---------------------
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = AEROSIMRC_MAX_CHANNELS)]
public float[] Channel_afValue_TX; // [-1, 1] channel positions at TX sticks (i.e. raw stick positions)
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = AEROSIMRC_MAX_CHANNELS)]
public float[] Channel_afValue_RX; // [-1, 1] channel positions at RX (i.e. after TX mixes)
// Use the following constants as indexes for the channel arrays
// The simulator uses internally the channel numbers for Transmitter Mode 2 (regardless of mode selected by user)
const int CH_AILERON = 0;
const int CH_ELEVATOR = 1;
const int CH_THROTTLE = 2;
const int CH_RUDDER = 3;
const int CH_5 = 4;
const int CH_6 = 5;
const int CH_7 = 6;
const int CH_PLUGIN_1 = 22; // This channel is mapped by user to any real channel number
const int CH_PLUGIN_2 = 23; // This channel is mapped by user to any real channel number
//---------------------
// OSD
//---------------------
// Video buffer for OSD is a bitmap, 4 bytes per pixel: R G B A; The first 4 bytes are the Top-Left corner pixel
// The size of the OSD Video Buffer is defined in plugin.txt
// .OSD_BUFFER_SIZE, in plugin.txt, can be set to one of the following sizes: 512x512, 1024x512 or 1024x1024
// Set OSD_nWindow_DX and OSD_nWindow_DY in struct TDataToAeroSimRC to the actual size to be displayed
public IntPtr OSD_pVideoBuffer;
//---------------------
// Menu
//---------------------
// This variable represent the custom menu status. E.g. 0x000001 means that first menu item is ticked
// Command menu item bits are set to 1 when selected, but cleared in the next cycle.
// Checkbox menu item bits remain 1 until unchecked by user, or cleared in TDataToAeroSimRC::Menu_nFlags_MenuItem_New_CheckBox_Status
public uint Menu_nFlags_MenuItem_Status;
//---------------------
// Model Initial Position in current scenario
//---------------------
public float Scenario_fInitialModelPosX; public float Scenario_fInitialModelPosY; public float Scenario_fInitialModelPosZ; // (m) Model Initial Position on runway
public float Scenario_fInitialModelHeading; public float Scenario_fInitialModelPitch; public float Scenario_fInitialModelRoll; // (m) Model Initial Attitude on runway
//---------------------
// WayPoints
// The Description string can be freely used to add more information to the waypoint such as Altitude, WP Type (Overfly, Landing, CAP), Bearing, etc.
//---------------------
public float Scenario_fWPHome_X; public float Scenario_fWPHome_Y; public float Scenario_fWPHome_Lat; public float Scenario_fWPHome_Long; IntPtr Scenario_strWPHome_Description; // (m, deg, string)
public float Scenario_fWPA_X; public float Scenario_fWPA_Y; public float Scenario_fWPA_Lat; public float Scenario_fWPA_Long; IntPtr Scenario_strWPA_Description; // (m, deg, string)
public float Scenario_fWPB_X; public float Scenario_fWPB_Y; public float Scenario_fWPB_Lat; public float Scenario_fWPB_Long; IntPtr Scenario_strWPB_Description; // (m, deg, string)
public float Scenario_fWPC_X; public float Scenario_fWPC_Y; public float Scenario_fWPC_Lat; public float Scenario_fWPC_Long; IntPtr Scenario_strWPC_Description; // (m, deg, string)
public float Scenario_fWPD_X; public float Scenario_fWPD_Y; public float Scenario_fWPD_Lat; public float Scenario_fWPD_Long; IntPtr Scenario_strWPD_Description; // (m, deg, string)
//---------------------
// Model data
//---------------------
public float Model_fPosX; public float Model_fPosY; public float Model_fPosZ; // m Model absolute position in scenario (X=Right, Y=Front, Z=Up)
public float Model_fVelX; public float Model_fVelY; public float Model_fVelZ; // m/s Model velocity
public float Model_fAngVelX; public float Model_fAngVelY; public float Model_fAngVelZ; // rad/s Model angular velocity (useful to implement gyroscopes)
public float Model_fAccelX; public float Model_fAccelY; public float Model_fAccelZ; // m/s/s Model acceleration (useful to implement accelerometers)
public double Model_fLatitude; public double Model_fLongitude; // deg Model Position in Lat/Long coordinates
public float Model_fHeightAboveTerrain; // m
public float Model_fHeading; // rad [-PI, PI ] 0 = North, PI/2 = East, PI = South, - PI/2 = West
public float Model_fPitch; // rad [-PI/2, PI/2] Positive pitch when nose up
public float Model_fRoll; // rad [-PI, PI ] Positive roll when right wing Up
// Wind
public float Model_fWindVelX; public float Model_fWindVelY; public float Model_fWindVelZ; // m/s Velocity of the wind (with gusts) at model position (useful to compute air vel)
// Engine/Motor Revs per minute
public float Model_fEngine1_RPM;
public float Model_fEngine2_RPM;
public float Model_fEngine3_RPM;
public float Model_fEngine4_RPM;
// Battery (electric models)
public float Model_fBatteryVoltage; // V
public float Model_fBatteryCurrent; // A
public float Model_fBatteryConsumedCharge; // Ah
public float Model_fBatteryCapacity; // Ah
// Fuel (gas & jet models)
public float Model_fFuelConsumed; // l
public float Model_fFuelTankCapacity; // l
// Ver > 3.81
// Screen size
public short Win_nScreenSizeDX; public short Win_nScreenSizeDY; // Screen Size, used to resize and reposition simulator window
// Model Orientation Matrix
public float Model_fAxisRight_x; public float Model_fAxisRight_y; public float Model_fAxisRight_z;
public float Model_fAxisFront_x; public float Model_fAxisFront_y; public float Model_fAxisFront_z;
public float Model_fAxisUp_x; public float Model_fAxisUp_y; public float Model_fAxisUp_z;
// Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
public float Model_fVel_Body_X; public float Model_fVel_Body_Y; public float Model_fVel_Body_Z; // m/s Model velocity in body coordinates
public float Model_fAngVel_Body_X; public float Model_fAngVel_Body_Y; public float Model_fAngVel_Body_Z; // rad/s Model angular velocity in body coordinates
public float Model_fAccel_Body_X; public float Model_fAccel_Body_Y; public float Model_fAccel_Body_Z; // m/s/s Model acceleration in body coordinates
// Size in bytes of the allocated OSD buffer (size is defined in plugin.txt in .OSD_BUFFER_SIZE)
// The buffer size is 4 x .OSD_VIDEO_BUFFER_SIZE (e.g. 4x512x512 = 1048576 bytes), so you should not write outside that memory.
public uint OSD_nSizeOfVideoBuffer;
}
~Simulation()
{
if (threadrun == 1)
ConnectComPort_Click(new object(), new EventArgs());
MavLink = null;
XplanesSEND = null;
SimulatorRECV = null;
}
public Simulation()
{
InitializeComponent();
}
private void Simulation_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)
{
CustomMessageBox.Show("Please connect first");
return;
}
try
{
quad = new HIL.QuadCopter();
if (RAD_JSBSim.Checked)
{
simPort = 5124;
recvPort = 5123;
}
SetupUDPRecv();
if (chkSensor.Checked)
{
SITLSEND = new UdpClient(simIP, 5501);
}
if (RAD_softXplanes.Checked)
{
SetupUDPXplanes();
SetupUDPMavLink();
}
else
{
if (RAD_JSBSim.Checked)
{
System.Diagnostics.ProcessStartInfo _procstartinfo = new System.Diagnostics.ProcessStartInfo();
_procstartinfo.WorkingDirectory = Path.GetDirectoryName(Application.ExecutablePath);
_procstartinfo.Arguments = "--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=jsbsim/rascal_test.xml";
_procstartinfo.FileName = "JSBSim.exe";
// Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar +
_procstartinfo.UseShellExecute = true;
//_procstartinfo.RedirectStandardOutput = true;
System.Diagnostics.Process.Start(_procstartinfo);
System.Threading.Thread.Sleep(2000);
SetupTcpJSBSim(); // 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();
timer_servo_graph.Start();
}
else
{
timer_servo_graph.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["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 "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;
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))
{
try
{
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked)
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
}
else
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 50); // request servoout
}
}
catch { }
lastdata = DateTime.Now; // prevent flooding
}
if (SimulatorRECV.Available > 0)
{
udpdata = new byte[udpdata.Length];
try
{
while (SimulatorRECV.Available > 0)
{
int recv = SimulatorRECV.ReceiveFrom(udpdata, ref Remote);
RECVprocess(udpdata, recv, comPort);
hzcount++;
}
}
catch
{ //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);
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 (Exception ex) { log.Info("SIM Main loop exception " + ex.ToString()); }
if (hzcounttime.Second != DateTime.Now.Second)
{
//Console.WriteLine("SIM hz {0}", hzcount);
hzcount = 0;
hzcounttime = DateTime.Now;
}
System.Threading.Thread.Sleep(1); // 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 UDP " + recvPort + " (sim->planner)\n");
}
private void SetupTcpJSBSim()
{
try
{
JSBSimSEND = new TcpClient();
JSBSimSEND.Client.NoDelay = true;
JSBSimSEND.Connect("127.0.0.1", simPort);
OutputLog.AppendText("Sending to port TCP " + simPort + " (planner->sim)\n");
//JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/h-agl-ft 0\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/lat-gc-deg " + MainV2.cs.HomeLocation.Lat + "\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/long-gc-deg " + MainV2.cs.HomeLocation.Lng + "\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/phi-rad 0\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/theta-rad 0\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/psi-rad 0\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("info\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("resume\r\n"));
}
catch { log.Info("JSB console fail"); }
}
private void SetupUDPXplanes()
{
// setup sender
XplanesSEND = new UdpClient(simIP, simPort);
OutputLog.AppendText("Sending to port UDP " + simPort + " (planner->sim)\n");
}
private void SetupUDPMavLink()
{
// setup sender
MavLink = new UdpClient("127.0.0.1", 14550);
}
float oldax = 0, olday = 0, oldaz = 0;
DateTime oldtime = DateTime.Now;
#if MAVLINK10
ArdupilotMega.MAVLink.mavlink_gps_raw_int_t oldgps = new MAVLink.mavlink_gps_raw_int_t();
#endif
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.IMAVLink comPort)
{
#if MAVLINK10
ArdupilotMega.MAVLink.mavlink_hil_state_t hilstate = new ArdupilotMega.MAVLink.mavlink_hil_state_t();
ArdupilotMega.MAVLink.mavlink_gps_raw_int_t gps = new ArdupilotMega.MAVLink.mavlink_gps_raw_int_t();
#else
ArdupilotMega.MAVLink.mavlink_gps_raw_t gps = new ArdupilotMega.MAVLink.mavlink_gps_raw_t();
#endif
ArdupilotMega.MAVLink.mavlink_raw_imu_t imu = new ArdupilotMega.MAVLink.mavlink_raw_imu_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
}
bool xplane9 = !CHK_xplane10.Checked;
if (xplane9)
{
att.pitch = (DATA[18][0] * deg2rad);
att.roll = (DATA[18][1] * deg2rad);
att.yaw = (DATA[18][2] * deg2rad);
att.pitchspeed = (DATA[17][0]);
att.rollspeed = (DATA[17][1]);
att.yawspeed = (DATA[17][2]);
}
else
{
att.pitch = (DATA[17][0] * deg2rad);
att.roll = (DATA[17][1] * deg2rad);
att.yaw = (DATA[17][2] * deg2rad);
att.pitchspeed = (DATA[16][0]);
att.rollspeed = (DATA[16][1]);
att.yawspeed = (DATA[16][2]);
}
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;
Int16 xgyro = Constrain(att.rollspeed * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 ygyro = Constrain(att.pitchspeed * 1000.0, Int16.MinValue, Int16.MaxValue);
Int16 zgyro = Constrain(att.yawspeed * 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]
float turnrad = (float)(((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704) * 1.943844) / (float)(11.26 * Math.Tan(att.roll))) * ft2m;
float centripaccel = (float)((DATA[3][7] * 0.44704) * (DATA[3][7] * 0.44704)) / turnrad;
//Console.WriteLine("old {0} {1} {2}",accel3D.X,accel3D.Y,accel3D.Z);
YLScsDrawing.Drawing3d.Vector3d cent3D = HIL.QuadCopter.RPY_to_XYZ(DATA[18][1] - 90, 0, 0, centripaccel);
accel3D -= cent3D;
//Console.WriteLine("new {0} {1} {2}", accel3D.X, accel3D.Y, accel3D.Z);
oldax = DATA[4][5];
olday = DATA[4][6];
oldaz = DATA[4][4];
double head = DATA[18][2] - 90;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
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);
#if MAVLINK10
gps.alt = (int)(DATA[20][2] * ft2m * 1000);
gps.fix_type = 3;
if (xplane9)
{
gps.cog = (ushort)((float)DATA[19][2]);
}
else
{
gps.cog = (ushort)((float)DATA[18][2]);
}
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
gps.time_usec = ((ulong)0);
gps.vel = (ushort)(DATA[3][7] * 0.44704 * 100);
#else
gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3;
if (xplane9)
{
gps.hdg = ((float)DATA[19][2]);
}
else
{
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));
#endif
asp.airspeed = ((float)(DATA[3][5] * 0.44704));
}
else if (receviedbytes == 0x64) // FG binary udp
{
//FlightGear
fgIMUData imudata2 = data.ByteArrayToStructureBigEndian<fgIMUData>(0);
if (imudata2.magic != 0x4c56414d)
return;
if (imudata2.latitude == 0)
return;
chkSensor.Checked = true;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
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;
#if MAVLINK10
gps.alt = ((int)(imudata2.altitude * ft2m * 1000));
gps.fix_type = 3;
gps.cog = (ushort)(Math.Atan2(imudata2.velocityE, imudata2.velocityN) * rad2deg * 100);
gps.lat = (int)(imudata2.latitude * 1.0e7);
gps.lon = (int)(imudata2.longitude * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((imudata2.velocityN * imudata2.velocityN) + (imudata2.velocityE * imudata2.velocityE)) * ft2m * 100);
#else
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);
#endif
//FileStream stream = File.OpenWrite("fgdata.txt");
//stream.Write(data, 0, receviedbytes);
//stream.Close();
}
else if (receviedbytes == 662 || receviedbytes == 658) // 658 = 3.83 662 = 3.91
{
aeroin = data.ByteArrayToStructure<TDataFromAeroSimRC>(0);
att.pitch = (aeroin.Model_fPitch);
att.roll = (aeroin.Model_fRoll * -1);
att.yaw = (float)((aeroin.Model_fHeading));
//Console.WriteLine("degs r {0:0.000} p {1:0.000} y {2:0.000} rates {3:0.000} {4:0.000} {5:0.000}", att.roll * -rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
//Console.WriteLine("mine2 {0} {1} {2} ", answer.Item1 , answer.Item2 , answer.Item3 );
//StreamWriter SW = new StreamWriter("aerosim.txt",true);
//SW.WriteLine(aeroin.Model_fRoll + "," + aeroin.Model_fPitch + "," + aeroin.Model_fHeading + "," + aeroin.Model_fAngVelX + "," + aeroin.Model_fAngVelY + "," + aeroin.Model_fAngVelZ);
//SW.Close();
att.pitchspeed = (float)aeroin.Model_fAngVel_Body_X;
att.rollspeed = (float)aeroin.Model_fAngVel_Body_Y;
att.yawspeed = (float)-aeroin.Model_fAngVel_Body_Z;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
//imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = (short)(aeroin.Model_fAngVel_Body_Z * 1000);
//imu.zmag = 0;
YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(att.roll, att.pitch, 0, -9.8); //DATA[18][2]
imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccel_Body_X) * 1000); // pitch
imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);
// Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
#if MAVLINK10
gps.alt = ((int)(aeroin.Model_fPosZ) * 1000);
gps.fix_type = 3;
gps.cog = (ushort)(Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg * 100);
gps.lat = (int)(aeroin.Model_fLatitude * 1.0e7);
gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)) * 100);
#else
gps.alt = ((float)(aeroin.Model_fPosZ));
gps.fix_type = 3;
gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg);
gps.lat = ((float)aeroin.Model_fLatitude);
gps.lon = ((float)aeroin.Model_fLongitude);
gps.usec = ((ulong)DateTime.Now.Ticks);
gps.v = ((float)Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)));
#endif
float xvec = aeroin.Model_fVelY - aeroin.Model_fWindVelY;
float yvec = aeroin.Model_fVelX - aeroin.Model_fWindVelX;
asp.airspeed = ((float)Math.Sqrt((yvec * yvec) + (xvec * xvec)));
}
else if (receviedbytes == 408)
{
FGNetFDM fdm = data.ByteArrayToStructureBigEndian<FGNetFDM>(0);
lastfdmdata = fdm;
att.roll = fdm.phi;
att.pitch = fdm.theta;
att.yaw = fdm.psi;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else
imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif
imu.xgyro = (short)(fdm.phidot); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(fdm.thetadot); // pitch - yes
//imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
imu.zgyro = (short)(fdm.psidot);
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);
#if MAVLINK10
gps.alt = ((int)(fdm.altitude * ft2m * 1000));
gps.fix_type = 3;
gps.cog = (ushort)((((Math.Atan2(fdm.v_east, fdm.v_north) * rad2deg) + 360) % 360) * 100);
gps.lat = (int)(fdm.latitude * rad2deg * 1.0e7);
gps.lon = (int)(fdm.longitude * rad2deg * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m * 100);
#else
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);
#endif
asp.airspeed = fdm.vcas * 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]);
#if MAVLINK10
gps.alt = ((int)(DATA[20][2] * ft2m * 1000));
gps.fix_type = 3;
gps.cog = (ushort)(DATA[18][2] * 100);
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
gps.time_usec = ((ulong)0);
gps.vel = (ushort)((DATA[3][7] * 0.44704 * 100));
#else
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));
#endif
asp.airspeed = ((float)(DATA[3][6] * 0.44704));
}
// write arduimu to ardupilot
if (CHK_quad.Checked && !RAD_aerosimrc.Checked) // quad does its own
{
return;
}
if (RAD_JSBSim.Checked && chkSensor.Checked)
{
byte[] buffer = new byte[1500];
while (JSBSimSEND.Client.Available > 5)
{
int read = JSBSimSEND.Client.Receive(buffer);
}
byte[] sitlout = new byte[16 * 8 + 1 * 4]; // 16 * double + 1 * int
int a = 0;
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.latitude * rad2deg), a, sitlout, a, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.longitude * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.altitude), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.v_north * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.v_east * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_X_pilot * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_Y_pilot * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_Z_pilot * ft2m), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.phidot * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.thetadot * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psidot * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.phi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.theta * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas * ft2m), 0, sitlout, a += 8, 8);
// Console.WriteLine(lastfdmdata.theta);
Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4);
SITLSEND.Send(sitlout, sitlout.Length);
return;
}
if (RAD_softXplanes.Checked && chkSensor.Checked)
{
sitldata sitlout = new sitldata();
ArdupilotMega.HIL.Utils.FLIGHTtoBCBF(ref att.pitchspeed, ref att.rollspeed, ref att.yawspeed, DATA[19][0] * deg2rad, DATA[19][1] * deg2rad);
//Console.WriteLine("{0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", att.pitchspeed, att.rollspeed, att.yawspeed, DATA[17][0], DATA[17][1], DATA[17][2]);
Tuple<double, double, double> ans = ArdupilotMega.HIL.Utils.OGLtoBCBF(att.pitch, att.roll, att.yaw, 0, 0, 9.8);
//Console.WriteLine("acc {0:0.00000} {1:0.00000} {2:0.00000} \t {3:0.00000} {4:0.00000} {5:0.00000}", ans.Item1, ans.Item2, ans.Item3, accel3D.X, accel3D.Y, accel3D.Z);
sitlout.alt = gps.alt;
sitlout.lat = gps.lat;
sitlout.lon = gps.lon;
#if !MAVLINK10
sitlout.heading = gps.hdg;
#else
sitlout.heading = gps.cog;
#endif
sitlout.v_north = DATA[21][4];
sitlout.v_east = DATA[21][5];
// correct accel
sitlout.ax = -ans.Item2; // pitch
sitlout.ay = -ans.Item1; // roll
sitlout.az = ans.Item3; // yaw
sitlout.phidot = -0.5;// att.pitchspeed;
// sitlout.thetadot = att.rollspeed;
//sitlout.psidot = att.yawspeed;
sitlout.phi = att.roll * rad2deg;
sitlout.theta = att.pitch * rad2deg;
sitlout.psi = att.yaw * rad2deg;
sitlout.vcas = asp.airspeed;
sitlout.check = (int)0x4c56414e;
byte[] sendme = StructureToByteArray(sitlout);
SITLSEND.Send(sendme,sendme.Length);
return;
}
#if MAVLINK10
TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
// add gps delay
if (gpsspan.TotalMilliseconds >= GPS_rate)
{
lastgpsupdate = DateTime.Now;
// save current fix = 3
gpsbuffer[gpsbufferindex % gpsbuffer.Length] = gps;
// Console.WriteLine((gpsbufferindex % gpsbuffer.Length) + " " + ((gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length));
// return buffer index + 5 = (3 + 5) = 8 % 6 = 2
oldgps = gpsbuffer[(gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length];
//comPort.sendPacket(oldgps);
gpsbufferindex++;
}
hilstate.alt = oldgps.alt;
hilstate.lat = oldgps.lat;
hilstate.lon = oldgps.lon;
hilstate.pitch = att.pitch;
hilstate.pitchspeed = att.pitchspeed;
hilstate.roll = att.roll;
hilstate.rollspeed = att.rollspeed;
hilstate.time_usec = gps.time_usec;
hilstate.vx = (short)(gps.vel * Math.Sin(gps.cog / 100.0 * deg2rad));
hilstate.vy = (short)(gps.vel * Math.Cos(gps.cog / 100.0 * deg2rad));
hilstate.vz = 0;
hilstate.xacc = imu.xacc;
hilstate.yacc = imu.yacc;
hilstate.yaw = att.yaw;
hilstate.yawspeed = att.yawspeed;
hilstate.zacc = imu.zacc;
comPort.sendPacket(hilstate);
// comPort.sendPacket(oldgps);
comPort.sendPacket(asp);
#else
if (chkSensor.Checked == false) // attitude
{
comPort.sendPacket(att);
comPort.sendPacket(asp);
}
else // raw imu
{
// imudata
comPort.sendPacket(imu);
#endif
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)); // updated from valid gps
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
comPort.sendPacket(pres);
#if !MAVLINK10
comPort.sendPacket(asp);
}
TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
// add gps delay
if (gpsspan.TotalMilliseconds >= GPS_rate)
{
lastgpsupdate = DateTime.Now;
// save current fix = 3
gpsbuffer[gpsbufferindex % gpsbuffer.Length] = gps;
// Console.WriteLine((gpsbufferindex % gpsbuffer.Length) + " " + ((gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length));
// return buffer index + 5 = (3 + 5) = 8 % 6 = 2
comPort.sendPacket(gpsbuffer[(gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length]);
gpsbufferindex++;
}
#endif
}
HIL.QuadCopter quad = new HIL.QuadCopter();
/// <summary>
///
/// </summary>
/// <param name="lat">rads </param>
/// <param name="lng">rads </param>
/// <param name="alt">m</param>
/// <param name="roll">rads</param>
/// <param name="pitch">rads</param>
/// <param name="heading">rads</param>
/// <param name="yaw">rads</param>
/// <param name="roll_out">-1 to 1</param>
/// <param name="pitch_out">-1 to 1</param>
/// <param name="rudder_out">-1 to 1</param>
/// <param name="throttle_out">0 to 1</param>
private void updateScreenDisplay(double lat, double lng, double alt, double roll, double pitch, double heading, double yaw, double roll_out, double pitch_out, double rudder_out, double throttle_out)
{
try
{
// Update Sim 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_lat.Text = (lat * rad2deg).ToString("0.00000");
TXT_long.Text = (lng * rad2deg).ToString("0.00000");
TXT_alt.Text = (alt).ToString("0.00");
TXT_roll.Text = (roll * rad2deg).ToString("0.000");
TXT_pitch.Text = (pitch * rad2deg).ToString("0.000");
TXT_heading.Text = (heading * rad2deg).ToString("0.000");
TXT_yaw.Text = (yaw * 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"); }); }
}
private void processArduPilot()
{
bool heli = CHK_heli.Checked;
if (CHK_quad.Checked && !RAD_aerosimrc.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]);
lastfdmdata.version = 999;
}
try
{
if (lastfdmdata.version == 0)
return;
quad.update(ref m, lastfdmdata);
}
catch (Exception e) { log.Info("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);
if (RAD_softFlightGear.Checked || RAD_softXplanes.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);
}
try
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
return;
}
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 - 1500) / throttlegain;
}
else
{
roll_out = (float)MainV2.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
throttle_out = ((float)MainV2.cs.hilch3) / throttlegain;
rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
if (RAD_aerosimrc.Checked && CHK_quad.Checked)
{
throttle_out = ((float)MainV2.cs.hilch7 / 2 + 5000) / throttlegain;
//throttle_out = (float)(MainV2.cs.hilch7 - 1100) / throttlegain;
}
}
// 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)
{
if (heli)
{
list4.Add(time, collective_out);
}
else
{
list4.Add(time, throttle_out);
}
}
else { list4.Clear(); }
}
if (packetssent % 10 == 0) // reduce cpu usage
{
if (RAD_softXplanes.Checked)
{
bool xplane9 = !CHK_xplane10.Checked;
if (xplane9)
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
}
else
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[17][1] * deg2rad, DATA[17][0] * deg2rad, DATA[18][2] * deg2rad, DATA[17][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
}
}
if (RAD_softFlightGear.Checked || RAD_JSBSim.Checked)
{
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, roll_out, pitch_out, rudder_out, throttle_out);
}
if (RAD_aerosimrc.Checked)
{
updateScreenDisplay(aeroin.Model_fLatitude * deg2rad, aeroin.Model_fLongitude * deg2rad, aeroin.Model_fPosZ, aeroin.Model_fRoll, aeroin.Model_fPitch, aeroin.Model_fHeading, aeroin.Model_fHeading, roll_out, pitch_out, rudder_out, throttle_out);
}
}
}
catch (Exception e) { log.Info("Error updateing screen stuff " + e.ToString()); }
packetssent++;
if (RAD_aerosimrc.Checked)
{
//AeroSimRC
byte[] AeroSimRC = new byte[4 * 8];// StructureToByteArray(fg);
Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
Array.Copy(BitConverter.GetBytes((double)((throttle_out * 2) - 1)), 0, AeroSimRC, 24, 8);
if (heli)
{
Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
}
if (CHK_quad.Checked)
{
//MainV2.cs.ch1out = 1100;
//MainV2.cs.ch2out = 1100;
//MainV2.cs.ch3out = 1100;
//MainV2.cs.ch4out = 1100;
//ac
// 3 front
// 1 left
// 4 back
// 2 left
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch3out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 0, 8); // motor 1 = front
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch1out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 8, 8); // motor 2 = right
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch4out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 16, 8);// motor 3 = back
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left
}
else
{
}
try
{
SimulatorRECV.SendTo(AeroSimRC, Remote);
}
catch { }
}
//JSBSim
if (RAD_JSBSim.Checked)
{
roll_out = Constrain(roll_out * REV_roll, -1f, 1f);
pitch_out = Constrain(-pitch_out * REV_pitch, -1f, 1f);
rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f);
throttle_out = Constrain(throttle_out, -0.0f, 1f);
string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n", roll_out, pitch_out, rudder_out, throttle_out);
//Console.Write(cmd);
byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
JSBSimSEND.Client.Send(data);
}
// Flightgear
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);
try
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
}
// Xplanes
if (RAD_softXplanes.Checked)
{
// sending only 1 packet instead of many.
byte[] Xplane = new byte[5 + 36 + 36];
if (heli)
{
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 * 0.5)), 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);
if (heli)
{
Array.Copy(BitConverter.GetBytes((float)(0)), 0, Xplane, 53, 4);
int a = 73 + 4;
Array.Copy(BitConverter.GetBytes((int)39), 0, Xplane, a, 4); // packet index
a += 4;
Array.Copy(BitConverter.GetBytes((float)(12 * collective_out)), 0, Xplane, a, 4); // main rotor 0 - 12
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) { log.Info("Xplanes udp send error " + e.Message); }
}
}
byte[] StructureToByteArray(object obj)
{
int len = Marshal.SizeOf(obj);
byte[] arr = new byte[len];
IntPtr ptr = Marshal.AllocHGlobal(len);
Marshal.StructureToPtr(obj, ptr, true);
Marshal.Copy(ptr, arr, 0, len);
Marshal.FreeHGlobal(ptr);
return arr;
}
private void RAD_softXplanes_CheckedChanged(object sender, EventArgs e)
{
}
private void RAD_softFlightGear_CheckedChanged(object sender, EventArgs e)
{
}
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
timer_servo_graph.Interval = 50;
timer_servo_graph.Enabled = true;
timer_servo_graph.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(@"C:\Program Files\FlightGear 2.4.0\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files\FlightGear 2.4.0\bin\Win32\";
extra = " --fg-root=\"C:\\Program Files\\FlightGear 2.4.0\\data\"";
}
else if (File.Exists(@"C:\Program Files (x86)\FlightGear 2.4.0\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files (x86)\FlightGear 2.4.0\bin\Win32\";
extra = " --fg-root=\"C:\\Program Files (x86)\\FlightGear 2.4.0\\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\";
}
else if (File.Exists(@"C:\Program Files\FlightGear\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files\FlightGear\bin\Win32\";
}
else if (File.Exists(@"C:\Program Files\FlightGear 2.4.0\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files\FlightGear 2.4.0\bin\Win32\";
}
else if (File.Exists(@"C:\Program Files (x86)\FlightGear 2.4.0\bin\Win32\fgfs.exe"))
{
ofd.InitialDirectory = @"C:\Program Files (x86)\FlightGear 2.4.0\bin\Win32\";
}
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();
}
if (!MainV2.MONO)
{
extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\", "")) + "\\data\"";
}
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;
timer_servo_graph.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;
timer_servo_graph.Stop();
zg1.Visible = false;
CHKgraphpitch.Visible = false;
CHKgraphroll.Visible = false;
CHKgraphrudder.Visible = false;
CHKgraphthrottle.Visible = false;
}
}
}
}
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