mirror of
https://bitbucket.org/librepilot/librepilot.git
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4536782428
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1243 ebee16cc-31ac-478f-84a7-5cbb03baadba
151 lines
3.9 KiB
C++
151 lines
3.9 KiB
C++
/**
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******************************************************************************
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*
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* @file il2bridge.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief
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* @see The GNU Public License (GPL) Version 3
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* @defgroup hitlil2plugin
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the 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 program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* 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, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef IL2BRIDGE_H
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#define IL2BRIDGE_H
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#include <QObject>
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#include <QUdpSocket>
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#include <QTimer>
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#include <QTime>
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#include <QMessageBox>
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#include <math.h>
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#include "uavtalk/telemetrymanager.h"
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#include "uavobjects/uavobjectmanager.h"
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#include "uavobjects/actuatordesired.h"
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#include "uavobjects/altitudeactual.h"
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#include "uavobjects/attitudeactual.h"
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#include "uavobjects/positionactual.h"
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#include "uavobjects/gcstelemetrystats.h"
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/**
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* just imagine this was a class without methods and all public properties
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*/
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struct flightParams {
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// time
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float T;
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float dT;
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// speed (relative)
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float ias;
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float tas;
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float groundspeed;
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// position (absolute)
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float X;
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float Y;
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float Z;
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// speed (absolute)
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float dX;
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float dY;
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float dZ;
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//angle
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float azimuth;
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float pitch;
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float roll;
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};
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class Il2Bridge: public QObject
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{
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Q_OBJECT
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public:
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Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QString il2Longitude);
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~Il2Bridge();
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bool isAutopilotConnected();
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bool isIl2Connected();
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signals:
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void myStart();
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void autopilotConnected();
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void autopilotDisconnected();
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void il2Connected();
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void il2Disconnected();
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private slots:
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void onStart();
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void transmitUpdate();
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void receiveUpdate();
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void onAutopilotConnect();
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void onAutopilotDisconnect();
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void onIl2ConnectionTimeout();
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void telStatsUpdated(UAVObject* obj);
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private:
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static const float FT2M;
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static const float KT2MPS;
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static const float MPS2KMH;
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static const float KMH2MPS;
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static const float INHG2KPA;
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static const float RAD2DEG;
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static const float DEG2RAD;
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static const float M2DEG;
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static const float DEG2M;
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static const float AIR_CONST;
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static const float GROUNDDENSITY;
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static const float TEMP_GROUND;
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static const float TEMP_LAPSE_RATE;
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static const float AIR_CONST_FACTOR;
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struct flightParams current;
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struct flightParams old;
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QUdpSocket* outSocket;
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ActuatorDesired* actDesired;
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AltitudeActual* altActual;
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AttitudeActual* attActual;
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PositionActual* posActual;
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GCSTelemetryStats* telStats;
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QHostAddress il2Host;
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float latitude;
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float longitude;
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int outPort;
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int updatePeriod;
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QTimer* txTimer;
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QTimer* il2Timer;
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QTime* time;
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bool autopilotConnectionStatus;
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bool il2ConnectionStatus;
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int il2Timeout;
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float DENSITY(float pressure);
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float PRESSURE(float alt);
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float TAS(float ias,float alt);
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void processUpdate(QString& data);
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void setupOutputObject(UAVObject* obj, int updatePeriod);
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void setupInputObject(UAVObject* obj, int updatePeriod);
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void setupObjects();
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};
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#endif // IL2BRIDGE_H
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