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