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Code Issues Releases Activity

Ground: Updated Hitl plugin and FlightGear to provide PositionActual.

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Currently the only value that works is PositionActual.Down wich is mapped to the altitude.
PositionActual.North and PositionActual.East are hardcoded to zero.
Also defined M_PI as it said it was no defined.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1924 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
darkz 2010-10-09 08:52:19 +00:00 committed by darkz
parent 6e34b78b85
commit 9a90a124fd
3 changed files with 15 additions and 0 deletions
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12
ground/src/plugins/hitlnew/fgsimulator.cpp
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@ -30,6 +30,10 @@
#include "coreplugin/icore.h"
#include "coreplugin/threadmanager.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
const float FGSimulator::FT2M = 0.3048;
const float FGSimulator::KT2MPS = 0.514444444;
const float FGSimulator::INHG2KPA = 3.386;
@ -215,6 +219,14 @@ void FGSimulator::processUpdate(const QByteArray& inp)
velocityActualData.Down = velocityActualDown;
velActual->setData(velocityActualData);
// Update PositionActual.{Nort,East,Down}
PositionActual::DataFields positionActualData;
memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
positionActualData.North = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.East = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.Down = (altitude * 100); //Multiply by 100 because positionActual expects input in Centimeters.
posActual->setData(positionActualData);
// Update AltitudeActual object
BaroAltitude::DataFields altActualData;
memset(&altActualData, 0, sizeof(BaroAltitude::DataFields));

1
ground/src/plugins/hitlnew/simulator.cpp
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@ -117,6 +117,7 @@ void Simulator::onStart()
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
actDesired = ActuatorDesired::GetInstance(objManager);
velActual = VelocityActual::GetInstance(objManager);
posActual = PositionActual::GetInstance(objManager);
altActual = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
gpsPos = GPSPosition::GetInstance(objManager);

2
ground/src/plugins/hitlnew/simulator.h
View File

@ -37,6 +37,7 @@
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/actuatordesired.h"
// #include "uavobjects/altitudeactual.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/velocityactual.h"
#include "uavobjects/baroaltitude.h"
#include "uavobjects/attitudeactual.h"
@ -147,6 +148,7 @@ protected:
BaroAltitude* altActual;
AttitudeActual* attActual;
VelocityActual* velActual;
PositionActual* posActual;
GPSPosition* gpsPos;
GCSTelemetryStats* telStats;