LibrePilot/ground/openpilotgcs/src/plugins/hitl/il2simulator.cpp

/**
 ******************************************************************************
 *
 * @file       il2simulator.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   hitlplugin
 * @{
 *
 *****************************************************************************/
/*
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

/*
 * Description of DeviceLink Protocol:
 * A Request is initiated with R/ followed by id's of to be requested settings
 * even id's indicate read only values, odd are write only
 * (usually id =get value id+1= set - for same setting)
 * id's are separated by /
 * requests can contain values to set, or to select a subsystem
 * values are separated by \
 * example: R/30/48/64\0/64\1/
 * request read only settings 30,48 and 64 with parameters 0 and 1
 * the answer consists of an A followed by id value pairs in the same format
 * example: A/30\0/48\0/64\0\22/64\1\102/
 *
 * A full protocol description as well as a list of ID's and their meanings
 * can be found shipped with IL2 in the file DeviceLink.txt
 *
 * id's used in this file:
 * 30: CAS in km/h (float)
 * 32: vario in m/s (float)
 * 38: angular speed °/s (float) (which direction? azimuth?)
 * 40: barometric alt in m (float)
 * 42: flight course in ° (0-360) (float)
 * 46: roll angle in ° (-180 - 180) (floatniguration)
 * 48: pitch angle in ° (-90 - 90) (float)
 * 80/81: engine power  (-1.0 (0%) - 1.0 (100%)) (float)
 * 84/85: aileron servo (-1.0 - 1.0) (float)
 * 86/87: elevator servo (-1.0 - 1.0) (float)
 * 88/89: rudder servo (-1.0 - 1.0) (float)
 *
 * IL2 currently offers no useful way of providing GPS data
 * therefore fake GPS data will be calculated using IMS
 *
 * unfortunately angular acceleration provided is very limited, too
 */


#include "il2simulator.h"
#include "extensionsystem/pluginmanager.h"
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
#include <math.h>

const float IL2Simulator::FT2M     = 12 * .254;
const float IL2Simulator::KT2MPS   = 0.514444444;
const float IL2Simulator::MPS2KMH  = 3.6;
const float IL2Simulator::KMH2MPS  = (1.0 / 3.6);
const float IL2Simulator::INHG2KPA = 3.386;
const float IL2Simulator::RAD2DEG  = (180.0 / M_PI);
const float IL2Simulator::DEG2RAD  = (M_PI / 180.0);
const float IL2Simulator::NM2DEG   = 60. * 1852.; // 60 miles per degree times 1852 meters per mile
const float IL2Simulator::DEG2NM   = (1.0 / (60. * 1852.));

IL2Simulator::IL2Simulator(const SimulatorSettings & params) :
    Simulator(params)
{
    airParameters = getAirParameters();
}


IL2Simulator::~IL2Simulator()
{}

void IL2Simulator::setupUdpPorts(const QString & host, int inPort, int outPort)
{
    Q_UNUSED(outPort);

    inSocket->connectToHost(host, inPort); // IL2
    if (!inSocket->waitForConnected()) {
        qCritical() << Name() + " cann't connect to UDP Port: " + QString::number(inPort);
    }
}

void IL2Simulator::transmitUpdate()
{
    // Read ActuatorDesired from autopilot
    ActuatorDesired::DataFields actData = actDesired->getData();
    float ailerons = actData.Roll;
    float elevator = actData.Pitch;
    float rudder   = actData.Yaw;
    float throttle = actData.Throttle * 2 - 1.0;

    // Send update to Il2
    QString cmd;

    cmd = QString("R/30/32/40/42/46/48/81\\%1/85\\%2/87\\%3/89\\%4/")
          .arg(throttle)
          .arg(ailerons)
          .arg(elevator)
          .arg(rudder);
    QByteArray data = cmd.toLatin1();
    // outSocket->write(data);
    inSocket->write(data); // for IL2 must send to the same port as input!!!!!!!!!!!!!
}


/**
 * process data string from flight simulator
 */
void IL2Simulator::processUpdate(const QByteArray & inp)
{
    // save old flight data to calculate delta's later
    old = current;
    QString data(inp);
    // Split
    QStringList fields = data.split("/");

    // split up response string
    int t;
    for (t = 0; t < fields.length(); t++) {
        QStringList values = fields[t].split("\\");
        // parse values
        if (values.length() >= 2) {
            int id = values[0].toInt();
            float value = values[1].toFloat();
            switch (id) {
            case 30:
                current.cas     = value * KMH2MPS;
                break;
            case 32:
                current.dZ      = value;
                break;
            case 40:
                current.Z       = value;
                break;
            case 42:
                current.azimuth = value;
                break;
            case 46:
                current.roll    = -value;
                break;
            case 48:
                current.pitch   = value;
                break;
            }
        }
    }

    // measure time
    current.dT = ((float)time->restart()) / 1000.0;
    if (current.dT < 0.001) {
        current.dT = 0.001;
    }
    current.T = old.T + current.dT;
    current.i = old.i + 1;
    if (current.i == 1) {
        old.dRoll    = 0;
        old.dPitch   = 0;
        old.dAzimuth = 0;
        old.ddX = 0;
        old.ddX = 0;
        old.ddX = 0;
    }

    // calculate TAS from alt and CAS
    float gravity = 9.805;
    current.tas = cas2tas(current.cas, current.Z, airParameters, gravity);

    // assume the plane actually flies straight and no wind
    // groundspeed is horizontal vector of TAS
    current.groundspeed = current.tas * cos(current.pitch * DEG2RAD);
    // x and y vector components
    current.dX = current.groundspeed * sin(current.azimuth * DEG2RAD);
    current.dY = current.groundspeed * cos(current.azimuth * DEG2RAD);

    // simple IMS - integration over time the easy way...
    current.X  = old.X + (current.dX * current.dT);
    current.Y  = old.Y + (current.dY * current.dT);

    // accelerations (filtered)
    if (isnan(old.ddX) || isinf(old.ddX)) {
        old.ddX = 0;
    }
    if (isnan(old.ddY) || isinf(old.ddY)) {
        old.ddY = 0;
    }
    if (isnan(old.ddZ) || isinf(old.ddZ)) {
        old.ddZ = 0;
    }
#define SPEED_FILTER 10
    current.ddX = ((current.dX - old.dX) / current.dT + SPEED_FILTER * (old.ddX)) / (SPEED_FILTER + 1);
    current.ddY = ((current.dY - old.dY) / current.dT + SPEED_FILTER * (old.ddY)) / (SPEED_FILTER + 1);
    current.ddZ = ((current.dZ - old.dZ) / current.dT + SPEED_FILTER * (old.ddZ)) / (SPEED_FILTER + 1);

#define TURN_FILTER  10
    // turn speeds (filtered)
    if (isnan(old.dAzimuth) || isinf(old.dAzimuth)) {
        old.dAzimuth = 0;
    }
    if (isnan(old.dPitch) || isinf(old.dPitch)) {
        old.dPitch = 0;
    }
    if (isnan(old.dRoll) || isinf(old.dRoll)) {
        old.dRoll = 0;
    }
    current.dAzimuth = (angleDifference(current.azimuth, old.azimuth) / current.dT + TURN_FILTER * (old.dAzimuth)) / (TURN_FILTER + 1);
    current.dPitch   = (angleDifference(current.pitch, old.pitch) / current.dT + TURN_FILTER * (old.dPitch)) / (TURN_FILTER + 1);
    current.dRoll    = (angleDifference(current.roll, old.roll) / current.dT + TURN_FILTER * (old.dRoll)) / (TURN_FILTER + 1);

    ///////
    // Output formatting
    ///////
    Output2Hardware out;
    memset(&out, 0, sizeof(Output2Hardware));

    // Compute rotation matrix, for later calculations
    float Rbe[3][3];
    float rpy[3];
    float quat[4];
    rpy[0] = current.roll;
    rpy[1] = current.pitch;
    rpy[2] = current.azimuth;
    Utils::CoordinateConversions().RPY2Quaternion(rpy, quat);
    Utils::CoordinateConversions().Quaternion2R(quat, Rbe);

    // Update GPS Position objects
    double HomeLLA[3];
    double LLA[3];
    double NED[3];
    HomeLLA[0]       = settings.latitude.toFloat();
    HomeLLA[1]       = settings.longitude.toFloat();
    HomeLLA[2]       = 0;
    NED[0]           = current.Y;
    NED[1]           = current.X;
    NED[2]           = -current.Z;
    Utils::CoordinateConversions().NED2LLA_HomeLLA(HomeLLA, NED, LLA);
    out.latitude     = LLA[0] * 1e7;
    out.longitude    = LLA[1] * 1e7;
    out.groundspeed  = current.groundspeed;

    out.calibratedAirspeed = current.cas;
    out.trueAirspeed = cas2tas(current.cas, current.Z, airParameters, gravity);

    out.dstN         = current.Y;
    out.dstE         = current.X;
    out.dstD         = -current.Z;

    // Update BaroSensor object
    out.altitude     = current.Z;
    out.agl          = current.Z;
    out.temperature  = airParameters.groundTemp + (current.Z * airParameters.tempLapseRate) - 273.0;
    out.pressure     = airPressureFromAltitude(current.Z, airParameters, gravity); // kpa


    // Update attState object
    out.roll    = current.roll;   // roll;
    out.pitch   = current.pitch;  // pitch
    out.heading = current.azimuth; // yaw


    // Update VelocityState.{North,East,Down}
    out.velNorth = current.dY;
    out.velEast  = current.dX;
    out.velDown  = -current.dZ;

    // rotate turn rates and accelerations into body frame
    // (note: rotation deltas are NOT in NED frame but in RPY - manual conversion!)
    out.rollRate  = current.dRoll;
    out.pitchRate = cos(DEG2RAD * current.roll) * current.dPitch + sin(DEG2RAD * current.roll) * current.dAzimuth;
    out.yawRate   = cos(DEG2RAD * current.roll) * current.dAzimuth - sin(DEG2RAD * current.roll) * current.dPitch;

    // Update accelerometer sensor data
    out.accX = current.ddX * Rbe[0][0]
               + current.ddY * Rbe[0][1]
               + (current.ddZ + GEE) * Rbe[0][2];
    out.accY = current.ddX * Rbe[1][0]
               + current.ddY * Rbe[1][1]
               + (current.ddZ + GEE) * Rbe[1][2];
    out.accZ = -(current.ddX * Rbe[2][0]
                 + current.ddY * Rbe[2][1]
                 + (current.ddZ + GEE) * Rbe[2][2]);

    updateUAVOs(out);
}

/**
 * process data string from flight simulator
 */
float IL2Simulator::angleDifference(float a, float b)
{
    float d = a - b;

    if (d > 180) {
        d -= 360;
    }
    if (d < -180) {
        d += 360;
    }
    return d;
}