74 lines
2.6 KiB
C++
74 lines
2.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include <iostream>
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#include <string>
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#include "SocketExample.cpp"
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class libAP_JSON {
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public:
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bool InitSockets(const char *fdm_address, const uint16_t fdm_port_in);
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bool ReceiveServoPacket(uint16_t servo_out[]);
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void SendState(double timestamp,
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double gyro_x, double gyro_y, double gyro_z, // rad/sec
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double accel_x, double accel_y, double accel_z, // m/s^2
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double pos_x, double pos_y, double pos_z, // m in inertial frame
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double phi, double theta, double psi, // attitude radians
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double V_x, double V_y, double V_z); // m/s in inertial frame
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void setAirspeed(double airspeed_in); // m/s
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void setWindvane(double direction, // radians clockwise to the front (0 is head to wind)
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double speed); // m/s
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void setRangefinder(double *rangefinder_in, uint8_t n);
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bool ap_online;
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private:
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// Socket manager
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SocketExample sock = SocketExample(true);
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// The address for the flight dynamics model
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// const char *libAP_JSON::fdm_address;
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// The address for the SITL flight controller - auto detected
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const char *fcu_address;
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// The port for the flight dynamics model
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// uint16_t libAP_JSON::fdm_port_in;
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// The port for the SITL flight controller - auto detected
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uint16_t fcu_port_out;
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// Number of consecutive missed ArduPilot controller messages
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int connectionTimeoutCount;
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// Max number of consecutive missed ArduPilot controller messages before timeout
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int connectionTimeoutMaxCount = 10;
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// Last received frame rate from the ArduPilot controller
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uint16_t fcu_frame_rate;
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// Last received frame count from the ArduPilot controller
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uint32_t fcu_frame_count = -1;
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// optional JSON data
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double airspeed;
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bool set_airspeed_flag = false;
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double windvane_direction;
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double windvane_speed;
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bool set_windvane_flag = false;
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double rangefinder[6];
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uint8_t rangefinder_count = 0;
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};
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