ardupilot/libraries/SITL/SIM_XPlane.h

126 lines
3.3 KiB
C++

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