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Code Issues Releases Activity

FlightGear homelocation set

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1971 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-10-17 14:05:01 +00:00 committed by sambas
parent ff87e8bd79
commit ef83d7a8ec
1 changed files with 44 additions and 6 deletions
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50
ground/src/plugins/hitlnew/fgsimulator.cpp
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@ -159,6 +159,7 @@ void FGSimulator::transmitUpdate()
void FGSimulator::processUpdate(const QByteArray& inp)
{
static char once=0;
// Split
QString data(inp);
QStringList fields = data.split(",");
@ -205,11 +206,37 @@ void FGSimulator::processUpdate(const QByteArray& inp)
// Get pressure (kpa)
float pressure = fields[20].toFloat() * INHG2KPA;
// Get VelocityActual Down (cm/s)
float velocityActualDown = fields[21].toFloat() * FPS2CMPS;
float velocityActualDown = fields[21].toFloat() * FPS2CMPS;
// Get VelocityActual East (cm/s)
float velocityActualEast = fields[22].toFloat() * FPS2CMPS;
// Get VelocityActual Down (cm/s)
float velocityActualNorth = fields[23].toFloat() * FPS2CMPS;
//run once
HomeLocation::DataFields homeData;
if(!once)
{
memset(&homeData, 0, sizeof(HomeLocation::DataFields));
// Update homelocation
homeData.Latitude = latitude * 10e6;
homeData.Longitude = longitude * 10e6;
homeData.Altitude = 0;
double LLA[3];
LLA[0]=latitude;
LLA[1]=longitude;
LLA[2]=0;
double ECEF[3];
Utils::CoordinateConversions().RneFromLLA(LLA,(double(*)[3])homeData.RNE);
Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
homeData.ECEF[0]=ECEF[0]*100;
homeData.ECEF[1]=ECEF[1]*100;
homeData.ECEF[2]=ECEF[2]*100;
homeData.Be[0]=0;
homeData.Be[1]=0;
homeData.Be[2]=0;
posHome->setData(homeData);
once=1;
}
// Update VelocityActual.{Nort,East,Down}
VelocityActual::DataFields velocityActualData;
@ -222,10 +249,10 @@ void FGSimulator::processUpdate(const QByteArray& inp)
// 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.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);
posActual->setData(positionActualData);
// Update AltitudeActual object
BaroAltitude::DataFields altActualData;
@ -251,12 +278,23 @@ void FGSimulator::processUpdate(const QByteArray& inp)
GPSPosition::DataFields gpsData;
memset(&gpsData, 0, sizeof(GPSPosition::DataFields));
gpsData.Altitude = altitude;
gpsData.Heading = heading;
gpsData.Heading = heading;
gpsData.Groundspeed = groundspeed;
gpsData.Latitude = latitude;
gpsData.Longitude = longitude;
gpsData.Latitude = latitude*1e7;
gpsData.Longitude = longitude*1e7;
gpsData.Satellites = 10;
gpsData.Status = GPSPosition::STATUS_FIX3D;
gpsPos->setData(gpsData);
/*float NED[3];
double LLA[3] = {(double) gpsData.Latitude / 1e7, (double) gpsData.Longitude / 1e7, (double) (gpsData.GeoidSeparation + gpsData.Altitude)};
// convert from cm back to meters
double ECEF[3] = {(double) (homeData.ECEF[0] / 100), (double) (homeData.ECEF[1] / 100), (double) (homeData.ECEF[2] / 100)};
Utils::CoordinateConversions().LLA2Base(LLA, ECEF, (float (*)[3]) homeData.RNE, NED);
positionActualData.North = NED[0]; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.East = NED[1]; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.Down = NED[2]; //Multiply by 100 because positionActual expects input in Centimeters.
posActual->setData(positionActualData);*/
}