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Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1847-gps-assist-fixes

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This commit is contained in:
abeck70 2015-05-16 19:57:41 +10:00
commit 5d923c4125
11 changed files with 505 additions and 39 deletions
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7
flight/modules/Airspeed/baro_airspeed_mpxv.c
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@ -46,7 +46,7 @@
#define CALIBRATION_IDLE_MS 2000 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 2000 // Time to spend calibrating, in [ms]
#define ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS 100 // low pass filter
#define ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS 256 // low pass filter
// Private types
@ -104,9 +104,10 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
}
}
sensor.zeroPoint = airspeedSettings->ZeroPoint;
sensor.scale = airspeedSettings->Scale;
// Filter CAS
float alpha = airspeedSettings->SamplePeriod / (airspeedSettings->SamplePeriod + ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS); // Low pass filter.
// Filter CAS : airspeedSettings->SamplePeriod value is 0 - 255 range
float alpha = 1 - (airspeedSettings->SamplePeriod / ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS); // Low pass filter.
airspeedSensor->CalibratedAirspeed = PIOS_MPXV_CalcAirspeed(&sensor, airspeedSensor->SensorValue) * (alpha) + airspeedSensor->CalibratedAirspeed * (1.0f - alpha);
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;

4
flight/pios/common/pios_mpxv.c
View File

@ -68,8 +68,8 @@ uint16_t PIOS_MPXV_Calibrate(PIOS_MPXV_descriptor *desc, uint16_t measurement)
*/
float PIOS_MPXV_CalcAirspeed(PIOS_MPXV_descriptor *desc, uint16_t measurement)
{
// Calculate dynamic pressure, as per docs
float Qc = 3.3f / 4096.0f * (float)(measurement - desc->zeroPoint);
// Calculate dynamic pressure, as per docs - Apply scale factor (voltage divider)
float Qc = 3.3f / 4096.0f * (float)((measurement - desc->zeroPoint) * desc->scale);
// Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
// to saturate on the upper bound, we'll handle that later with calibratedAirspeed.

1
flight/pios/inc/pios_mpxv.h
View File

@ -38,6 +38,7 @@ typedef struct {
uint16_t calibrationCount;
uint32_t calibrationSum;
uint16_t zeroPoint;
float scale;
float maxSpeed;
} PIOS_MPXV_descriptor;

4
flight/targets/boards/simposix/firmware/Makefile
View File

@ -63,6 +63,8 @@ FLIGHTLIB = ../../../../libraries
FLIGHTLIBINC = $(FLIGHTLIB)/inc
MATHLIB = $(FLIGHTLIB)/math
MATHLIBINC = $(FLIGHTLIB)/math
PIDLIB = $(FLIGHTLIB)/pid
PIDLIBINC = $(FLIGHTLIB)/pid
PIOSPOSIX = $(PIOS)/posix
PIOSCOMMON = $(PIOS)/posix
PIOSCORECOMMON = $(PIOS)/common
@ -111,6 +113,7 @@ SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
SRC += $(MATHLIB)/mathmisc.c
SRC += $(MATHLIB)/butterworth.c
CPPSRC += $(PIDLIB)/pidcontroldown.cpp
SRC += $(PIOSCORECOMMON)/pios_task_monitor.c
ifeq ($(USE_YAFFS),YES)
@ -145,6 +148,7 @@ EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(MATHLIBINC)
EXTRAINCDIRS += $(PIDLIBINC)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(OPUAVSYNTHDIR)

3
ground/openpilotgcs/src/plugins/hitl/hitlnoisegeneration.h
View File

@ -30,7 +30,8 @@
// #include <QObject>
// #include <simulator.h>
#include "xplanesimulator.h"
#include "xplanesimulator9.h"
#include "xplanesimulator10.h"
#include "hitlnoisegeneration.h"
#include "extensionsystem/pluginmanager.h"
#include <coreplugin/icore.h>

6
ground/openpilotgcs/src/plugins/hitl/hitlplugin.cpp
View File

@ -32,7 +32,8 @@
#include "aerosimrcsimulator.h"
#include "fgsimulator.h"
#include "il2simulator.h"
#include "xplanesimulator.h"
#include "xplanesimulator9.h"
#include "xplanesimulator10.h"
QList<SimulatorCreator * > HITLPlugin::typeSimulators;
@ -57,7 +58,8 @@ bool HITLPlugin::initialize(const QStringList & args, QString *errMsg)
addSimulator(new AeroSimRCSimulatorCreator("ASimRC", "AeroSimRC"));
addSimulator(new FGSimulatorCreator("FG", "FlightGear"));
addSimulator(new IL2SimulatorCreator("IL2", "IL2"));
addSimulator(new XplaneSimulatorCreator("X-Plane", "X-Plane"));
addSimulator(new XplaneSimulatorCreator9("X-Plane9", "X-Plane9"));
addSimulator(new XplaneSimulatorCreator10("X-Plane10", "X-Plane10"));
return true;
}

6
ground/openpilotgcs/src/plugins/hitl/plugin.pro
View File

@ -16,7 +16,8 @@ HEADERS += hitlplugin.h \
aerosimrcsimulator.h \
fgsimulator.h \
il2simulator.h \
xplanesimulator.h
xplanesimulator9.h \
xplanesimulator10.h
SOURCES += hitlplugin.cpp \
hitlwidget.cpp \
hitloptionspage.cpp \
@ -28,7 +29,8 @@ SOURCES += hitlplugin.cpp \
aerosimrcsimulator.cpp \
fgsimulator.cpp \
il2simulator.cpp \
xplanesimulator.cpp
xplanesimulator9.cpp \
xplanesimulator10.cpp
OTHER_FILES += hitl.pluginspec
FORMS += hitloptionspage.ui \
hitlwidget.ui

360
ground/openpilotgcs/src/plugins/hitl/xplanesimulator10.cpp Normal file
View File

@ -0,0 +1,360 @@
/**
******************************************************************************
*
* @file xplanesimulator10.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 X-Plane Protocol:
*
* To see what data can be sended/recieved to/from X-Plane, launch X-Plane -> goto main menu
* (cursor at top of main X-Plane window) -> Settings -> Data Input and Output -> Data Set.
* Data Set shown all X-Plane params,
* each row has four checkbox: 1st check - out to UDP; 4 check - show on screen
* All the UDP messages for X-Plane have the same format, which is:
* 5-character MESSAGE PROLOUGE (to indicate the type of message)
* and then a DATA INPUT STRUCTURE (containing the message data that you want to send or receive)
*
* DATA INPUT/OUTPUT STRUCTURE is the following stuct:
*
* struct data_struct
* {
* int index; // data index, the index into the list of variables
// you can output from the Data Output screen in X-Plane.
* float data[8]; // the up to 8 numbers you see in the data output screen associated with that selection..
// many outputs do not use all 8, though.
* };
*
* For Example, update of aileron/elevon/rudder in X-Plane (11 row in Data Set)
* bytes value description
* [0-3] DATA message type
* [4] none no matter
* [5-8] 11 code of setting param(row in Data Set)
* [9-41] data message data (8 float values)
* total size: 41 byte
*
*/
#include "xplanesimulator10.h"
#include "extensionsystem/pluginmanager.h"
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
#include <math.h>
void TraceBuf10(const char *buf, int len);
XplaneSimulator10::XplaneSimulator10(const SimulatorSettings & params) :
Simulator(params)
{
resetInitialHomePosition();
}
XplaneSimulator10::~XplaneSimulator10()
{}
void XplaneSimulator10::setupUdpPorts(const QString & host, int inPort, int outPort)
{
Q_UNUSED(outPort);
inSocket->bind(QHostAddress(host), inPort);
// outSocket->bind(QHostAddress(host), outPort);
resetInitialHomePosition();
}
bool XplaneSimulator10::setupProcess()
{
emit processOutput(QString("Please start X-Plane 10 manually, and make sure it is setup to output its ") +
"data to host " + settings.hostAddress + " UDP port " + QString::number(settings.inPort));
return true;
}
/**
* update data in X-Plane simulator
*/
void XplaneSimulator10::transmitUpdate()
{
if (settings.manualControlEnabled) {
// Read ActuatorDesired from autopilot
ActuatorDesired::DataFields actData = actDesired->getData();
float ailerons = actData.Roll;
float elevator = actData.Pitch;
float rudder = actData.Yaw;
float throttle = actData.Thrust > 0 ? actData.Thrust : 0;
float none = -999;
// quint32 none = *((quint32*)&tmp); // get float as 4 bytes
quint32 code;
QByteArray buf;
QDataStream stream(&buf, QIODevice::ReadWrite);
// !!! LAN byte order - Big Endian
#if Q_BYTE_ORDER == Q_LITTLE_ENDIAN
stream.setByteOrder(QDataStream::LittleEndian);
#endif
// 11th data settings (flight con: ail/elv/rud)
buf.clear();
code = 11;
// quint8 header[] = "DATA";
/*
stream << *((quint32*)header) <<
(quint8)0x30 <<
code <<
*((quint32*)&elevator) <<
*((quint32*)&ailerons) <<
*((quint32*)&rudder) <<
none <<
*((quint32*)&ailerons) <<
none <<
none <<
none;
*/
buf.append("DATA0");
buf.append(reinterpret_cast<const char *>(&code), sizeof(code));
buf.append(reinterpret_cast<const char *>(&elevator), sizeof(elevator));
buf.append(reinterpret_cast<const char *>(&ailerons), sizeof(ailerons));
buf.append(reinterpret_cast<const char *>(&rudder), sizeof(rudder));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&rudder), sizeof(rudder));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
// TraceBuf10(buf.data(),41);
if (outSocket->writeDatagram(buf, QHostAddress(settings.remoteAddress), settings.outPort) == -1) {
emit processOutput("Error sending UDP packet to XPlane: " + outSocket->errorString() + "\n");
}
// outSocket->write(buf);
// 25th data settings (throttle command)
buf.clear();
code = 25;
// stream << *((quint32*)header) << (quint8)0x30 << code << *((quint32*)&throttle) << none << none
// << none << none << none << none << none;
buf.append("DATA0");
buf.append(reinterpret_cast<const char *>(&code), sizeof(code));
buf.append(reinterpret_cast<const char *>(&throttle), sizeof(throttle));
buf.append(reinterpret_cast<const char *>(&throttle), sizeof(throttle));
buf.append(reinterpret_cast<const char *>(&throttle), sizeof(throttle));
buf.append(reinterpret_cast<const char *>(&throttle), sizeof(throttle));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
if (outSocket->writeDatagram(buf, QHostAddress(settings.remoteAddress), settings.outPort) == -1) {
emit processOutput("Error sending UDP packet to XPlane: " + outSocket->errorString() + "\n");
}
// outSocket->write(buf);
/** !!! this settings was given from ardupilot X-Plane.pl, I comment them
but if it needed comment should be removed !!!
// 8th data settings (joystick 1 ail/elv/rud)
stream << "DATA0" << quint32(11) << elevator << ailerons << rudder
<< float(-999) << float(-999) << float(-999) << float(-999) << float(-999);
outSocket->write(buf);
*/
}
}
/**
* process data string from X-Plane simulator
*/
void XplaneSimulator10::processUpdate(const QByteArray & dataBuf)
{
float altitude_msl = 0;
float altitude_agl = 0;
float latitude = 0;
float longitude = 0;
float airspeed_keas = 0;
float groundspeed_ktgs = 0;
float pitch = 0;
float roll = 0;
float heading = 0;
float pressure = 0;
float temperature = 0;
float velX = 0;
float velY = 0;
float velZ = 0;
float dstX = 0;
float dstY = 0;
float dstZ = 0;
float accX = 0;
float accY = 0;
float accZ = 0;
float rollRate_rad = 0;
float pitchRate_rad = 0;
float yawRate_rad = 0;
// QString str;
QByteArray & buf = const_cast<QByteArray &>(dataBuf);
QString data(buf);
if (data.left(4) == "DATA") { // check type of packet
buf.remove(0, 5);
if (dataBuf.size() % 36) {
qDebug() << ("incorrect length of UDP packet: " + buf);
return; // incorrect length of struct
}
// check correctness of data length, length must be multiple of (id_size+8*float_size)=4+8*4=36
int channelCounter = dataBuf.size() / 36;
do {
switch (buf[0]) { // switch by id
case XplaneSimulator10::LatitudeLongitude:
latitude = *((float *)(buf.data() + 4 * 1));
longitude = *((float *)(buf.data() + 4 * 2));
altitude_msl = *((float *)(buf.data() + 4 * 3)) * FT2M;
altitude_agl = *((float *)(buf.data() + 4 * 4)) * FT2M;
break;
case XplaneSimulator10::Speed:
airspeed_keas = *((float *)(buf.data() + 4 * 2));
groundspeed_ktgs = *((float *)(buf.data() + 4 * 4));
break;
case XplaneSimulator10::PitchRollHeading:
pitch = *((float *)(buf.data() + 4 * 1));
roll = *((float *)(buf.data() + 4 * 2));
heading = *((float *)(buf.data() + 4 * 3));
break;
/*
case XplaneSimulator10::SystemPressures:
pressure = *((float*)(buf.data()+4*1));
break;
*/
case XplaneSimulator10::AtmosphereWeather:
pressure = *((float *)(buf.data() + 4 * 1)) * INHG2KPA;
temperature = *((float *)(buf.data() + 4 * 2));
break;
case XplaneSimulator10::LocVelDistTraveled:
dstX = *((float *)(buf.data() + 4 * 1));
dstY = -*((float *)(buf.data() + 4 * 3));
dstZ = *((float *)(buf.data() + 4 * 2));
velX = *((float *)(buf.data() + 4 * 4));
velY = -*((float *)(buf.data() + 4 * 6));
velZ = *((float *)(buf.data() + 4 * 5));
break;
case XplaneSimulator10::AngularVelocities: // In [rad/s]
pitchRate_rad = *((float *)(buf.data() + 4 * 1));
rollRate_rad = *((float *)(buf.data() + 4 * 2));
yawRate_rad = *((float *)(buf.data() + 4 * 3));
break;
case XplaneSimulator10::Gload:
accX = *((float *)(buf.data() + 4 * 6)) * GEE;
accY = *((float *)(buf.data() + 4 * 7)) * GEE;
accZ = *((float *)(buf.data() + 4 * 5)) * GEE;
break;
default:
break;
}
channelCounter--;
buf.remove(0, 36);
} while (channelCounter);
///////
// Output formatting
///////
Output2Hardware out;
memset(&out, 0, sizeof(Output2Hardware));
// Update GPS Position objects
out.latitude = latitude * 1e7;
out.longitude = longitude * 1e7;
out.altitude = altitude_msl;
out.agl = altitude_agl;
out.groundspeed = groundspeed_ktgs * 1.15 * 1.6089 / 3.6; // Convert from [kts] to [m/s]
out.calibratedAirspeed = airspeed_keas * 1.15 * 1.6089 / 3.6; // Convert from [kts] to [m/s]
// Update BaroSensor object
out.temperature = temperature;
out.pressure = pressure;
// Update attState object
out.roll = roll; // roll;
out.pitch = pitch; // pitch
out.heading = heading; // yaw
out.dstN = dstY;
out.dstE = dstX;
out.dstD = -dstZ;
// Update VelocityState.{North,East,Down}
out.velNorth = velY;
out.velEast = velX;
out.velDown = -velZ;
// Update gyroscope sensor data - convert from rad/s to deg/s
out.rollRate = rollRate_rad * (180.0 / M_PI);
out.pitchRate = pitchRate_rad * (180.0 / M_PI);
out.yawRate = yawRate_rad * (180.0 / M_PI);
// Update accelerometer sensor data
out.accX = accX;
out.accY = accY;
out.accZ = -accZ;
updateUAVOs(out);
}
// issue manual update
// attState->updated();
// altState->updated();
// posState->updated();
}
void TraceBuf10(const char *buf, int len)
{
QString str;
bool reminder = true;
for (int i = 0; i < len; i++) {
if (!(i % 16)) {
if (i > 0) {
qDebug() << str;
str.clear();
reminder = false;
}
reminder = true;
}
str += QString(" 0x%1").arg((quint8)buf[i], 2, 16, QLatin1Char('0'));
}
if (reminder) {
qDebug() << str;
}
}

95
ground/openpilotgcs/src/plugins/hitl/xplanesimulator10.h Normal file
View File

@ -0,0 +1,95 @@
/**
******************************************************************************
*
* @file xplanesimulator10.h
* @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
*/
#ifndef XPLANESIMULATOR10_H
#define XPLANESIMULATOR10_H
#include <QObject>
#include <simulator.h>
class XplaneSimulator10 : public Simulator {
Q_OBJECT
public:
XplaneSimulator10(const SimulatorSettings & params);
~XplaneSimulator10();
bool setupProcess();
void setupUdpPorts(const QString & host, int inPort, int outPort);
private slots:
void transmitUpdate();
private:
enum XplaneOutputData // ***WARNING***: Elements in this enum are in a precise order, do
{ // not change. Cf. http://www.nuclearprojects.com/xplane/info.shtml (outdated version 9 info)
// These fields have been updated for X-Plane version 10.x
/* 0 */ FramRate,
/* 1 */ Times,
/* 2 */ SimStats,
/* 3 */ Speed,
/* 4 */ Gload,
/* 5 */ AtmosphereWeather,
/* 6 */ AtmosphereAircraft,
/* 7 */ SystemPressures,
/* 8 */ Joystick1,
/* 9 */ Joystick2,
/* 10 */ ArtStab,
/* 11 */ FlightCon,
/* 12 */ WingSweep,
/* 13 */ Trim,
/* 14 */ Brakes,
/* 15 */ AngularMoments,
/* 16 */ AngularVelocities,
/* 17 */ PitchRollHeading,
/* 18 */ AoA,
/* 19 */ MagCompass,
/* 20 */ LatitudeLongitude,
/* 21 */ LocVelDistTraveled,
/* 22 */ AllPlanesLat,
/* 23 */ AllPlanesLon,
/* 24 */ AllPlanesAlt,
/* 25 */ ThrottleCommand
/* .. */
};
void processUpdate(const QByteArray & data);
};
class XplaneSimulatorCreator10 : public SimulatorCreator {
public:
XplaneSimulatorCreator10(const QString & classId, const QString & description)
: SimulatorCreator(classId, description)
{}
Simulator *createSimulator(const SimulatorSettings & params)
{
return new XplaneSimulator10(params);
}
};
#endif // XPLANESIMULATOR10_H

38
ground/openpilotgcs/src/plugins/hitl/xplanesimulator.cpp → ground/openpilotgcs/src/plugins/hitl/xplanesimulator9.cpp
View File

@ -1,7 +1,7 @@
/**
******************************************************************************
*
* @file xplanesimulator.cpp
* @file xplanesimulator9.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
@ -56,25 +56,25 @@
*
*/
#include "xplanesimulator.h"
#include "xplanesimulator9.h"
#include "extensionsystem/pluginmanager.h"
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
#include <math.h>
void TraceBuf(const char *buf, int len);
void TraceBuf9(const char *buf, int len);
XplaneSimulator::XplaneSimulator(const SimulatorSettings & params) :
XplaneSimulator9::XplaneSimulator9(const SimulatorSettings & params) :
Simulator(params)
{
resetInitialHomePosition();
}
XplaneSimulator::~XplaneSimulator()
XplaneSimulator9::~XplaneSimulator9()
{}
void XplaneSimulator::setupUdpPorts(const QString & host, int inPort, int outPort)
void XplaneSimulator9::setupUdpPorts(const QString & host, int inPort, int outPort)
{
Q_UNUSED(outPort);
@ -83,7 +83,7 @@ void XplaneSimulator::setupUdpPorts(const QString & host, int inPort, int outPor
resetInitialHomePosition();
}
bool XplaneSimulator::setupProcess()
bool XplaneSimulator9::setupProcess()
{
emit processOutput(QString("Please start X-Plane manually, and make sure it is setup to output its ") +
"data to host " + settings.hostAddress + " UDP port " + QString::number(settings.inPort));
@ -94,7 +94,7 @@ bool XplaneSimulator::setupProcess()
/**
* update data in X-Plane simulator
*/
void XplaneSimulator::transmitUpdate()
void XplaneSimulator9::transmitUpdate()
{
if (settings.manualControlEnabled) {
// Read ActuatorDesired from autopilot
@ -142,7 +142,7 @@ void XplaneSimulator::transmitUpdate()
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
buf.append(reinterpret_cast<const char *>(&none), sizeof(none));
// TraceBuf(buf.data(),41);
// TraceBuf9(buf.data(),41);
if (outSocket->writeDatagram(buf, QHostAddress(settings.remoteAddress), settings.outPort) == -1) {
emit processOutput("Error sending UDP packet to XPlane: " + outSocket->errorString() + "\n");
@ -186,7 +186,7 @@ void XplaneSimulator::transmitUpdate()
/**
* process data string from X-Plane simulator
*/
void XplaneSimulator::processUpdate(const QByteArray & dataBuf)
void XplaneSimulator9::processUpdate(const QByteArray & dataBuf)
{
float altitude_msl = 0;
float altitude_agl = 0;
@ -226,36 +226,36 @@ void XplaneSimulator::processUpdate(const QByteArray & dataBuf)
int channelCounter = dataBuf.size() / 36;
do {
switch (buf[0]) { // switch by id
case XplaneSimulator::LatitudeLongitudeAltitude:
case XplaneSimulator9::LatitudeLongitudeAltitude:
latitude = *((float *)(buf.data() + 4 * 1));
longitude = *((float *)(buf.data() + 4 * 2));
altitude_msl = *((float *)(buf.data() + 4 * 3)) * FT2M;
altitude_agl = *((float *)(buf.data() + 4 * 4)) * FT2M;
break;
case XplaneSimulator::Speed:
case XplaneSimulator9::Speed:
airspeed_keas = *((float *)(buf.data() + 4 * 2));
groundspeed_ktgs = *((float *)(buf.data() + 4 * 4));
break;
case XplaneSimulator::PitchRollHeading:
case XplaneSimulator9::PitchRollHeading:
pitch = *((float *)(buf.data() + 4 * 1));
roll = *((float *)(buf.data() + 4 * 2));
heading = *((float *)(buf.data() + 4 * 3));
break;
/*
case XplaneSimulator::SystemPressures:
case XplaneSimulator9::SystemPressures:
pressure = *((float*)(buf.data()+4*1));
break;
*/
case XplaneSimulator::AtmosphereWeather:
case XplaneSimulator9::AtmosphereWeather:
pressure = *((float *)(buf.data() + 4 * 1)) * INHG2KPA;
temperature = *((float *)(buf.data() + 4 * 2));
break;
case XplaneSimulator::LocVelDistTraveled:
case XplaneSimulator9::LocVelDistTraveled:
dstX = *((float *)(buf.data() + 4 * 1));
dstY = -*((float *)(buf.data() + 4 * 3));
dstZ = *((float *)(buf.data() + 4 * 2));
@ -264,13 +264,13 @@ void XplaneSimulator::processUpdate(const QByteArray & dataBuf)
velZ = *((float *)(buf.data() + 4 * 5));
break;
case XplaneSimulator::AngularVelocities: // In [rad/s]
case XplaneSimulator9::AngularVelocities: // In [rad/s]
pitchRate_rad = *((float *)(buf.data() + 4 * 1));
rollRate_rad = *((float *)(buf.data() + 4 * 2));
yawRate_rad = *((float *)(buf.data() + 4 * 3));
break;
case XplaneSimulator::Gload:
case XplaneSimulator9::Gload:
accX = *((float *)(buf.data() + 4 * 6)) * GEE;
accY = *((float *)(buf.data() + 4 * 7)) * GEE;
accZ = *((float *)(buf.data() + 4 * 5)) * GEE;
@ -337,7 +337,7 @@ void XplaneSimulator::processUpdate(const QByteArray & dataBuf)
}
void TraceBuf(const char *buf, int len)
void TraceBuf9(const char *buf, int len)
{
QString str;
bool reminder = true;

20
ground/openpilotgcs/src/plugins/hitl/xplanesimulator.h → ground/openpilotgcs/src/plugins/hitl/xplanesimulator9.h
View File

@ -1,7 +1,7 @@
/**
******************************************************************************
*
* @file xplanesimulator.h
* @file xplanesimulator9.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
@ -25,17 +25,17 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef XPLANESIMULATOR_H
#define XPLANESIMULATOR_H
#ifndef XPLANESIMULATOR9_H
#define XPLANESIMULATOR9_H
#include <QObject>
#include <simulator.h>
class XplaneSimulator : public Simulator {
class XplaneSimulator9 : public Simulator {
Q_OBJECT
public:
XplaneSimulator(const SimulatorSettings & params);
~XplaneSimulator();
XplaneSimulator9(const SimulatorSettings & params);
~XplaneSimulator9();
bool setupProcess();
void setupUdpPorts(const QString & host, int inPort, int outPort);
@ -73,16 +73,16 @@ private:
void processUpdate(const QByteArray & data);
};
class XplaneSimulatorCreator : public SimulatorCreator {
class XplaneSimulatorCreator9 : public SimulatorCreator {
public:
XplaneSimulatorCreator(const QString & classId, const QString & description)
XplaneSimulatorCreator9(const QString & classId, const QString & description)
: SimulatorCreator(classId, description)
{}
Simulator *createSimulator(const SimulatorSettings & params)
{
return new XplaneSimulator(params);
return new XplaneSimulator9(params);
}
};
#endif // XPLANESIMULATOR_H
#endif // XPLANESIMULATOR9_H