utils/GPSsmooth/UGear_main.cxx

   1 #ifdef HAVE_CONFIG_H
   2 #  include <config.h>
   3 #endif
   4
   5 #if !defined( _MSC_VER ) && !defined( __MINGW32__ )
   6 #  include <strings.h>          // for bzero()
   7 #else
   8 #  define bzero(a,b) memset(a,0,b)
   9 #endif
  10 #include <iostream>
  11 #include <string>
  12
  13 #include <plib/net.h>
  14 #include <plib/sg.h>
  15
  16 #include <simgear/constants.h>
  17 #include <simgear/io/lowlevel.hxx> // endian tests
  18 #include <simgear/io/sg_file.hxx>
  19 #include <simgear/serial/serial.hxx>
  20 #include <simgear/math/sg_geodesy.hxx>
  21 #include <simgear/timing/timestamp.hxx>
  22
  23 #include <Network/net_ctrls.hxx>
  24 #include <Network/net_fdm.hxx>
  25
  26 #include "UGear.hxx"
  27 #include "UGear_command.hxx"
  28 #include "UGear_opengc.hxx"
  29 #include "UGear_telnet.hxx"
  30
  31
  32 using std::cout;
  33 using std::endl;
  34 using std::string;
  35
  36
  37 // Network channels
  38 static netSocket fdm_sock, ctrls_sock, opengc_sock;
  39
  40 // ugear data
  41 UGTrack track;
  42
  43 // Default ports
  44 static int fdm_port = 5505;
  45 static int ctrls_port = 5506;
  46 static int opengc_port = 6000;
  47
  48 // Default path
  49 static string infile = "";
  50 static string flight_dir = "";
  51 static string serialdev = "";
  52 static string outfile = "";
  53
  54 // Master time counter
  55 float sim_time = 0.0f;
  56 double frame_us = 0.0f;
  57
  58 // sim control
  59 SGTimeStamp last_time_stamp;
  60 SGTimeStamp current_time_stamp;
  61
  62 // altitude offset
  63 double alt_offset = 0.0;
  64
  65 // skip initial seconds
  66 double skip = 0.0;
  67
  68 // for speed estimate
  69 double last_lat = 0.0, last_lon = 0.0;
  70 double kts_filter = 0.0;
  71
  72 bool inited = false;
  73
  74 bool run_real_time = true;
  75
  76 bool ignore_checksum = false;
  77
  78 bool sg_swap = false;
  79
  80 bool use_ground_track_hdg = false;
  81 bool use_ground_speed = false;
  82
  83 bool est_controls = false;
  84
  85 float gps_status = -1.0;
  86
  87
  88 // The function htond is defined this way due to the way some
  89 // processors and OSes treat floating point values.  Some will raise
  90 // an exception whenever a "bad" floating point value is loaded into a
  91 // floating point register.  Solaris is notorious for this, but then
  92 // so is LynxOS on the PowerPC.  By translating the data in place,
  93 // there is no need to load a FP register with the "corruped" floating
  94 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  95 // routine for big-endian processors so it can be as efficient as
  96 // possible
  97 static void htond (double &x)
  98 {
  99     if ( sgIsLittleEndian() ) {
 100         int    *Double_Overlay;
 101         int     Holding_Buffer;
 102
 103         Double_Overlay = (int *) &x;
 104         Holding_Buffer = Double_Overlay [0];
 105
 106         Double_Overlay [0] = htonl (Double_Overlay [1]);
 107         Double_Overlay [1] = htonl (Holding_Buffer);
 108     } else {
 109         return;
 110     }
 111 }
 112
 113 // Float version
 114 static void htonf (float &x)
 115 {
 116     if ( sgIsLittleEndian() ) {
 117         int    *Float_Overlay;
 118         int     Holding_Buffer;
 119
 120         Float_Overlay = (int *) &x;
 121         Holding_Buffer = Float_Overlay [0];
 122
 123         Float_Overlay [0] = htonl (Holding_Buffer);
 124     } else {
 125         return;
 126     }
 127 }
 128
 129
 130 static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
 131                       servo *servopacket, health *healthpacket,
 132                       FGNetFDM *fdm, FGNetCtrls *ctrls )
 133 {
 134     unsigned int i;
 135
 136     // Version sanity checking
 137     fdm->version = FG_NET_FDM_VERSION;
 138
 139     // Aero parameters
 140     fdm->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
 141     fdm->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
 142     fdm->altitude = navpacket->alt + alt_offset;
 143     fdm->agl = -9999.0;
 144     fdm->psi = imupacket->psi; // heading
 145     fdm->phi = imupacket->phi; // roll
 146     fdm->theta = imupacket->the; // pitch;
 147
 148     fdm->phidot = 0.0;
 149     fdm->thetadot = 0.0;
 150     fdm->psidot = 0.0;
 151
 152     // estimate speed
 153     // double az1, az2, dist;
 154     // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
 155     //                     fdm->latitude, fdm->longitude, &az1, &az2, &dist );
 156     // last_lat = fdm->latitude;
 157     // last_lon = fdm->longitude;
 158     // double v_ms = dist / (frame_us / 1000000);
 159     // double v_kts = v_ms * SG_METER_TO_NM * 3600;
 160     // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
 161     // printf("dist = %.5f  kts est = %.2f\n", dist, kts_filter);
 162
 163     double vn = navpacket->vn;
 164     double ve = navpacket->ve;
 165     double vd = navpacket->vd;
 166
 167     if ( use_ground_track_hdg ) {
 168         fdm->psi = SGD_PI * 0.5 - atan2(vn, ve); // heading
 169     }
 170
 171     double mps = 0.0;
 172     if ( use_ground_speed ) {
 173         mps = sqrt( vn*vn + ve*ve + vd*vd );
 174     } else {
 175         mps = imupacket->Pt;
 176     }
 177     // double mph = mps * 3600 / 1609.3440;
 178     double kts = mps * SG_MPS_TO_KT;
 179     fdm->vcas = kts;
 180     // printf("speed = %.2f mph  %.2f kts\n", mph, kts );
 181     static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
 182     Ps_last = Ps;
 183     Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
 184     double climb = (Ps - Ps_last) / (imupacket->time - t_last);
 185     t_last = imupacket->time;
 186     static double climbf = 0.0;
 187     climbf = 0.994 * climbf + 0.006 * climb;
 188     fdm->climb_rate = climbf; // fps
 189
 190     static double Ps_error = 0.0;
 191     static double Ps_count = 0;
 192     const double span = 10000.0;
 193     Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
 194     double error = navpacket->alt - Ps;
 195     Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
 196     fdm->altitude = Ps +  Ps_error;
 197
 198     /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
 199            imupacket->time, imupacket->the, -navpacket->vd, climbf,
 200            navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
 201            imupacket->Ps, Ps, Ps + Ps_error); */
 202
 203     // cout << "climb rate = " << aero->hdota << endl;
 204     fdm->v_north = 0.0;
 205     fdm->v_east = 0.0;
 206     fdm->v_down = 0.0;
 207     fdm->v_wind_body_north = 0.0;
 208     fdm->v_wind_body_east = 0.0;
 209     fdm->v_wind_body_down = 0.0;
 210     fdm->stall_warning = 0.0;
 211
 212     fdm->A_X_pilot = 0.0;
 213     fdm->A_Y_pilot = 0.0;
 214     fdm->A_Z_pilot = 0.0 /* (should be -G) */;
 215
 216     // Engine parameters
 217     fdm->num_engines = 1;
 218     fdm->eng_state[0] = 2;
 219     // cout << "state = " << fdm->eng_state[0] << endl;
 220     double rpm = 5000.0 - ((double)servopacket->chn[2] / 65536.0)*3500.0;
 221     if ( rpm < 0.0 ) { rpm = 0.0; }
 222     if ( rpm > 5000.0 ) { rpm = 5000.0; }
 223     fdm->rpm[0] = rpm;
 224
 225     fdm->fuel_flow[0] = 0.0;
 226     fdm->egt[0] = 0.0;
 227     // cout << "egt = " << aero->EGT << endl;
 228     fdm->oil_temp[0] = 0.0;
 229     fdm->oil_px[0] = 0.0;
 230
 231     // Consumables
 232     fdm->num_tanks = 2;
 233     fdm->fuel_quantity[0] = 0.0;
 234     fdm->fuel_quantity[1] = 0.0;
 235
 236     // Gear and flaps
 237     fdm->num_wheels = 3;
 238     fdm->wow[0] = 0;
 239     fdm->wow[1] = 0;
 240     fdm->wow[2] = 0;
 241
 242     // the following really aren't used in this context
 243     fdm->cur_time = 0;
 244     fdm->warp = 0;
 245     fdm->visibility = 0;
 246
 247     // cout << "Flap deflection = " << aero->dflap << endl;
 248     fdm->left_flap = 0.0;
 249     fdm->right_flap = 0.0;
 250
 251     if ( est_controls ) {
 252         static float est_elev = 0.0;
 253         static float est_aileron = 0.0;
 254         static float est_rudder = 0.0;
 255         est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
 256         est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
 257         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
 258         ctrls->elevator = fdm->elevator = -est_elev;
 259         ctrls->aileron = fdm->left_aileron = est_aileron;
 260         fdm->right_aileron = -est_aileron;
 261         ctrls->rudder = fdm->rudder = est_rudder;
 262     } else {
 263         ctrls->elevator = fdm->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 264         ctrls->aileron = fdm->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 265         fdm->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 266         ctrls->rudder = fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 267         ctrls->elevator *= 3.0;
 268         ctrls->aileron *= 3.0;
 269     }
 270     fdm->elevator_trim_tab = 0.0;
 271     fdm->left_flap = 0.0;
 272     fdm->right_flap = 0.0;
 273     fdm->nose_wheel = 0.0;
 274     fdm->speedbrake = 0.0;
 275     fdm->spoilers = 0.0;
 276
 277     // Convert the net buffer to network format
 278     fdm->version = htonl(fdm->version);
 279
 280     htond(fdm->longitude);
 281     htond(fdm->latitude);
 282     htond(fdm->altitude);
 283     htonf(fdm->agl);
 284     htonf(fdm->phi);
 285     htonf(fdm->theta);
 286     htonf(fdm->psi);
 287     htonf(fdm->alpha);
 288     htonf(fdm->beta);
 289
 290     htonf(fdm->phidot);
 291     htonf(fdm->thetadot);
 292     htonf(fdm->psidot);
 293     htonf(fdm->vcas);
 294     htonf(fdm->climb_rate);
 295     htonf(fdm->v_north);
 296     htonf(fdm->v_east);
 297     htonf(fdm->v_down);
 298     htonf(fdm->v_wind_body_north);
 299     htonf(fdm->v_wind_body_east);
 300     htonf(fdm->v_wind_body_down);
 301
 302     htonf(fdm->A_X_pilot);
 303     htonf(fdm->A_Y_pilot);
 304     htonf(fdm->A_Z_pilot);
 305
 306     htonf(fdm->stall_warning);
 307     htonf(fdm->slip_deg);
 308
 309     for ( i = 0; i < fdm->num_engines; ++i ) {
 310         fdm->eng_state[i] = htonl(fdm->eng_state[i]);
 311         htonf(fdm->rpm[i]);
 312         htonf(fdm->fuel_flow[i]);
 313         htonf(fdm->egt[i]);
 314         htonf(fdm->cht[i]);
 315         htonf(fdm->mp_osi[i]);
 316         htonf(fdm->tit[i]);
 317         htonf(fdm->oil_temp[i]);
 318         htonf(fdm->oil_px[i]);
 319     }
 320     fdm->num_engines = htonl(fdm->num_engines);
 321
 322     for ( i = 0; i < fdm->num_tanks; ++i ) {
 323         htonf(fdm->fuel_quantity[i]);
 324     }
 325     fdm->num_tanks = htonl(fdm->num_tanks);
 326
 327     for ( i = 0; i < fdm->num_wheels; ++i ) {
 328         fdm->wow[i] = htonl(fdm->wow[i]);
 329         htonf(fdm->gear_pos[i]);
 330         htonf(fdm->gear_steer[i]);
 331         htonf(fdm->gear_compression[i]);
 332     }
 333     fdm->num_wheels = htonl(fdm->num_wheels);
 334
 335     fdm->cur_time = htonl( fdm->cur_time );
 336     fdm->warp = htonl( fdm->warp );
 337     htonf(fdm->visibility);
 338
 339     htonf(fdm->elevator);
 340     htonf(fdm->elevator_trim_tab);
 341     htonf(fdm->left_flap);
 342     htonf(fdm->right_flap);
 343     htonf(fdm->left_aileron);
 344     htonf(fdm->right_aileron);
 345     htonf(fdm->rudder);
 346     htonf(fdm->nose_wheel);
 347     htonf(fdm->speedbrake);
 348     htonf(fdm->spoilers);
 349
 350 #if 0
 351     ctrls->version = FG_NET_CTRLS_VERSION;
 352     ctrls->elevator_trim = 0.0;
 353     ctrls->flaps = 0.0;
 354
 355     htonl(ctrls->version);
 356     htond(ctrls->aileron);
 357     htond(ctrls->rudder);
 358     htond(ctrls->elevator);
 359     htond(ctrls->elevator_trim);
 360     htond(ctrls->flaps);
 361 #endif
 362 }
 363
 364
 365 static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
 366                           servo *servopacket, health *healthpacket,
 367                           ogcFGData *ogc )
 368 {
 369     // Version sanity checking
 370     ogc->version_id = OGC_VERSION;
 371
 372     // Aero parameters
 373     ogc->longitude = navpacket->lon;
 374     ogc->latitude = navpacket->lat;
 375     ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
 376     ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
 377     ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
 378
 379     ogc->phi_dot = 0.0;
 380     ogc->theta_dot = 0.0;
 381     ogc->psi_dot = 0.0;
 382
 383     ogc->alpha = 0.0;
 384     ogc->beta = 0.0;
 385     ogc->alpha_dot = 0.0;
 386     ogc->beta_dot = 0.0;
 387
 388     ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 389     ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 390     ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 391     ogc->elevator_trim = 0.0;
 392     ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 393     ogc->flaps = 0.0;
 394     ogc->flaps_cmd = 0.0;
 395
 396     ogc->wind = 0.0;
 397     ogc->wind_dir = 0.0;
 398
 399     // estimate speed
 400     // double az1, az2, dist;
 401     // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
 402     //                     fdm->latitude, fdm->longitude, &az1, &az2, &dist );
 403     // last_lat = fdm->latitude;
 404     // last_lon = fdm->longitude;
 405     // double v_ms = dist / (frame_us / 1000000);
 406     // double v_kts = v_ms * SG_METER_TO_NM * 3600;
 407     // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
 408     // printf("dist = %.5f  kts est = %.2f\n", dist, kts_filter);
 409
 410     double vn = navpacket->vn;
 411     double ve = navpacket->ve;
 412     double vd = navpacket->vd;
 413
 414     if ( use_ground_track_hdg ) {
 415         ogc->heading = (SGD_PI * 0.5 - atan2(vn, ve)) * SG_RADIANS_TO_DEGREES;
 416     }
 417
 418     if ( ogc->heading < 0 ) { ogc->heading += 360.0; }
 419
 420     double mps = 0.0;
 421     if ( use_ground_speed ) {
 422         mps = sqrt( vn*vn + ve*ve + vd*vd );
 423     } else {
 424         mps = imupacket->Pt;
 425     }
 426     // double mph = mps * 3600 / 1609.3440;
 427     double kts = mps * SG_MPS_TO_KT;
 428     ogc->v_kcas = kts;
 429     // printf("speed = %.2f mph  %.2f kts\n", mph, kts );
 430     static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
 431     Ps_last = Ps;
 432     Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
 433     double climb = (Ps - Ps_last) / (imupacket->time - t_last);
 434     t_last = imupacket->time;
 435     static double climbf = 0.0;
 436     climbf = 0.994 * climbf + 0.006 * climb;
 437     ogc->vvi = climbf; // fps
 438
 439     // uncomment one of the following schemes for setting elevation:
 440
 441     // use the navigation (inertially augmented gps estimate)
 442     // ogc->altitude = ogc->elevation
 443     //     = (navpacket->alt + alt_offset * SG_METER_TO_FEET);
 444
 445     // use estimate error between pressure sensor and gps altitude over time
 446     // use pressure sensor + error average for altitude estimate.
 447     static double Ps_error = 0.0;
 448     static double Ps_count = 0;
 449     const double span = 10000.0;
 450     Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
 451     double error = navpacket->alt - Ps;
 452     Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
 453     ogc->elevation = (Ps +  Ps_error) * SG_METER_TO_FEET;
 454
 455     /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
 456            imupacket->time, imupacket->the, -navpacket->vd, climbf,
 457            navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
 458            imupacket->Ps, Ps, Ps + Ps_error); */
 459
 460     if ( est_controls ) {
 461         static float est_elev = 0.0;
 462         static float est_aileron = 0.0;
 463         static float est_rudder = 0.0;
 464         est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
 465         est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
 466         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
 467         ogc->elevator = -est_elev;
 468         ogc->left_aileron = est_aileron;
 469         ogc->right_aileron = -est_aileron;
 470         ogc->rudder = est_rudder;
 471     } else {
 472         ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 473         ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 474         ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 475         ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 476     }
 477     ogc->elevator *= 4.0;
 478     ogc->left_aileron *= 4.0;
 479     ogc->right_aileron *= 4.0;
 480     ogc->rudder *= 4.0;
 481
 482     // additional "abused" data fields
 483     ogc->egt[0] = ogc->bank - healthpacket->target_roll_deg; // flight director target roll
 484     ogc->egt[1] = -ogc->pitch + healthpacket->target_pitch_deg; // flight director target pitch
 485     ogc->egt[2] = healthpacket->target_heading_deg; // target heading bug
 486     ogc->egt[3] = healthpacket->target_climb_fps;   // target VVI bug
 487     ogc->epr[0] = healthpacket->target_altitude_ft; // target altitude bug
 488     ogc->epr[1] = 30.0;                              // target speed bug
 489     ogc->epr[2] = gps_status;   // gps status box
 490 }
 491
 492
 493 static void send_data_udp( gps *gpspacket, imu *imupacket, nav *navpacket,
 494                            servo *servopacket, health *healthpacket )
 495 {
 496     int len;
 497     int ogcsize = sizeof( ogcFGData );
 498     int fdmsize = sizeof( FGNetFDM );
 499     // int ctrlsize = sizeof( FGNetCtrls );
 500
 501     // cout << "Running main loop" << endl;
 502
 503     ogcFGData fgogc;
 504     FGNetFDM fgfdm;
 505     FGNetCtrls fgctrls;
 506
 507     ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 508               &fgfdm, &fgctrls );
 509     ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 510                   &fgogc );
 511     len = opengc_sock.send(&fgogc, ogcsize, 0);
 512     len = fdm_sock.send(&fgfdm, fdmsize, 0);
 513     // len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
 514 }
 515
 516
 517 void usage( const string &argv0 ) {
 518     cout << "Usage: " << argv0 << endl;
 519     cout << "\t[ --help ]" << endl;
 520     cout << "\t[ --infile <infile_name>" << endl;
 521     cout << "\t[ --flight <flight_dir>" << endl;
 522     cout << "\t[ --serial <dev_name>" << endl;
 523     cout << "\t[ --outfile <outfile_name> (capture the data to a file)" << endl;
 524     cout << "\t[ --hertz <hertz> ]" << endl;
 525     cout << "\t[ --host <hostname> ]" << endl;
 526     cout << "\t[ --broadcast ]" << endl;
 527     cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
 528     cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
 529     cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
 530     cout << "\t[ --groundtrack-heading ]" << endl;
 531     cout << "\t[ --ground-speed ]" << endl;
 532     cout << "\t[ --estimate-control-deflections ]" << endl;
 533     cout << "\t[ --altitude-offset <meters> ]" << endl;
 534     cout << "\t[ --skip-seconds <seconds> ]" << endl;
 535     cout << "\t[ --no-real-time ]" << endl;
 536     cout << "\t[ --ignore-checksum ]" << endl;
 537     cout << "\t[ --sg-swap ]" << endl;
 538 }
 539
 540
 541 int main( int argc, char **argv ) {
 542     double hertz = 60.0;
 543     string out_host = "localhost";
 544     bool do_broadcast = false;
 545
 546     // process command line arguments
 547     for ( int i = 1; i < argc; ++i ) {
 548         if ( strcmp( argv[i], "--help" ) == 0 ) {
 549             usage( argv[0] );
 550             exit( 0 );
 551         } else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
 552             ++i;
 553             if ( i < argc ) {
 554                 hertz = atof( argv[i] );
 555             } else {
 556                 usage( argv[0] );
 557                 exit( -1 );
 558             }
 559         } else if ( strcmp( argv[i], "--infile" ) == 0 ) {
 560             ++i;
 561             if ( i < argc ) {
 562                 infile = argv[i];
 563             } else {
 564                 usage( argv[0] );
 565                 exit( -1 );
 566             }
 567         } else if ( strcmp( argv[i], "--flight" ) == 0 ) {
 568             ++i;
 569             if ( i < argc ) {
 570                 flight_dir = argv[i];
 571             } else {
 572                 usage( argv[0] );
 573                 exit( -1 );
 574             }
 575         } else if ( strcmp( argv[i], "--outfile" ) == 0 ) {
 576             ++i;
 577             if ( i < argc ) {
 578                 outfile = argv[i];
 579             } else {
 580                 usage( argv[0] );
 581                 exit( -1 );
 582             }
 583         } else if ( strcmp( argv[i], "--serial" ) == 0 ) {
 584             ++i;
 585             if ( i < argc ) {
 586                 serialdev = argv[i];
 587             } else {
 588                 usage( argv[0] );
 589                 exit( -1 );
 590             }
 591         } else if ( strcmp( argv[i], "--host" ) == 0 ) {
 592             ++i;
 593             if ( i < argc ) {
 594                 out_host = argv[i];
 595             } else {
 596                 usage( argv[0] );
 597                 exit( -1 );
 598             }
 599         } else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
 600           do_broadcast = true;
 601         } else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
 602             ++i;
 603             if ( i < argc ) {
 604                 opengc_port = atoi( argv[i] );
 605             } else {
 606                 usage( argv[0] );
 607                 exit( -1 );
 608             }
 609         } else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
 610             ++i;
 611             if ( i < argc ) {
 612                 fdm_port = atoi( argv[i] );
 613             } else {
 614                 usage( argv[0] );
 615                 exit( -1 );
 616             }
 617         } else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
 618             ++i;
 619             if ( i < argc ) {
 620                 ctrls_port = atoi( argv[i] );
 621             } else {
 622                 usage( argv[0] );
 623                 exit( -1 );
 624             }
 625         } else if ( strcmp (argv[i], "--groundtrack-heading" ) == 0 ) {
 626             use_ground_track_hdg = true;
 627         } else if ( strcmp (argv[i], "--ground-speed" ) == 0 ) {
 628             use_ground_speed = true;
 629         } else if (strcmp (argv[i], "--estimate-control-deflections" ) == 0) {
 630             est_controls = true;
 631         } else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
 632             ++i;
 633             if ( i < argc ) {
 634                 alt_offset = atof( argv[i] );
 635             } else {
 636                 usage( argv[0] );
 637                 exit( -1 );
 638             }
 639         } else if ( strcmp( argv[i], "--skip-seconds" ) == 0 ) {
 640             ++i;
 641             if ( i < argc ) {
 642                 skip = atof( argv[i] );
 643             } else {
 644                 usage( argv[0] );
 645                 exit( -1 );
 646             }
 647         } else if ( strcmp( argv[i], "--no-real-time" ) == 0 ) {
 648             run_real_time = false;
 649         } else if ( strcmp( argv[i], "--ignore-checksum" ) == 0 ) {
 650             ignore_checksum = true;
 651         } else if ( strcmp( argv[i], "--sg-swap" ) == 0 ) {
 652             sg_swap = true;
 653         } else {
 654             usage( argv[0] );
 655             exit( -1 );
 656         }
 657     }
 658
 659     // Setup up outgoing network connections
 660
 661     netInit( &argc,argv ); // We must call this before any other net stuff
 662
 663     if ( ! opengc_sock.open( false ) ) {  // open a UDP socket
 664         cout << "error opening opengc output socket" << endl;
 665         return -1;
 666     }
 667     if ( ! fdm_sock.open( false ) ) {  // open a UDP socket
 668         cout << "error opening fdm output socket" << endl;
 669         return -1;
 670     }
 671     if ( ! ctrls_sock.open( false ) ) {  // open a UDP socket
 672         cout << "error opening ctrls output socket" << endl;
 673         return -1;
 674     }
 675     cout << "open net channels" << endl;
 676
 677     opengc_sock.setBlocking( false );
 678     fdm_sock.setBlocking( false );
 679     ctrls_sock.setBlocking( false );
 680     cout << "blocking false" << endl;
 681
 682     if ( do_broadcast ) {
 683         opengc_sock.setBroadcast( true );
 684         fdm_sock.setBroadcast( true );
 685         ctrls_sock.setBroadcast( true );
 686     }
 687
 688     if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
 689         perror("connect");
 690         cout << "error connecting to outgoing opengc port: " << out_host
 691              << ":" << opengc_port << endl;
 692         return -1;
 693     }
 694     cout << "connected outgoing opengc socket" << endl;
 695
 696     if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
 697         perror("connect");
 698         cout << "error connecting to outgoing fdm port: " << out_host
 699              << ":" << fdm_port << endl;
 700         return -1;
 701     }
 702     cout << "connected outgoing fdm socket" << endl;
 703
 704     if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
 705         perror("connect");
 706         cout << "error connecting to outgoing ctrls port: " << out_host
 707              << ":" << ctrls_port << endl;
 708         return -1;
 709     }
 710     cout << "connected outgoing ctrls socket" << endl;
 711
 712     if ( sg_swap ) {
 713         track.set_stargate_swap_mode();
 714     }
 715
 716     UGTelnet telnet( 5402 );
 717     telnet.open();
 718
 719     if ( infile.length() || flight_dir.length() ) {
 720         if ( infile.length() ) {
 721             // Load data from a stream log data file
 722             track.load_stream( infile, ignore_checksum );
 723         } else if ( flight_dir.length() ) {
 724             // Load data from a flight directory
 725             track.load_flight( flight_dir );
 726         }
 727         cout << "Loaded " << track.gps_size() << " gps records." << endl;
 728         cout << "Loaded " << track.imu_size() << " imu records." << endl;
 729         cout << "Loaded " << track.nav_size() << " nav records." << endl;
 730         cout << "Loaded " << track.servo_size() << " servo records." << endl;
 731         cout << "Loaded " << track.health_size() << " health records." << endl;
 732
 733         int size = track.imu_size();
 734
 735         double current_time = track.get_imupt(0).time;
 736         cout << "Track begin time is " << current_time << endl;
 737         double end_time = track.get_imupt(size-1).time;
 738         cout << "Track end time is " << end_time << endl;
 739         cout << "Duration = " << end_time - current_time << endl;
 740
 741         if ( track.gps_size() > 0 ) {
 742             double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
 743             int days = (int)(tmp / (24 * 60 * 60));
 744             tmp -= days * 24 * 60 * 60;
 745             int hours = (int)(tmp / (60 * 60));
 746             tmp -= hours * 60 * 60;
 747             int min = (int)(tmp / 60);
 748             tmp -= min * 60;
 749             double sec = tmp;
 750             printf("[GPS  ]:ITOW= %.3f[sec]  %dd %02d:%02d:%06.3f\n",
 751                    tmp, days, hours, min, sec);
 752         }
 753
 754
 755         // advance skip seconds forward
 756         current_time += skip;
 757
 758         frame_us = 1000000.0 / hertz;
 759         if ( frame_us < 0.0 ) {
 760             frame_us = 0.0;
 761         }
 762
 763         SGTimeStamp start_time;
 764         start_time.stamp();
 765         int gps_count = 0;
 766         int imu_count = 0;
 767         int nav_count = 0;
 768         int servo_count = 0;
 769         int health_count = 0;
 770
 771         gps gps0, gps1;
 772         gps0 = gps1 = track.get_gpspt( 0 );
 773
 774         imu imu0, imu1;
 775         imu0 = imu1 = track.get_imupt( 0 );
 776
 777         nav nav0, nav1;
 778         nav0 = nav1 = track.get_navpt( 0 );
 779
 780         servo servo0, servo1;
 781         servo0 = servo1 = track.get_servopt( 0 );
 782
 783         health health0, health1;
 784         health0 = health1 = track.get_healthpt( 0 );
 785
 786         double last_lat = -999.9, last_lon = -999.9;
 787
 788         printf("<gpx>\n");
 789         printf(" <trk>\n");
 790         printf("  <trkseg>\n");
 791         while ( current_time < end_time ) {
 792             // cout << "current_time = " << current_time << " end_time = "
 793             //      << end_time << endl;
 794
 795             // Advance gps pointer
 796             while ( current_time > gps1.time
 797                     && gps_count < track.gps_size() - 1 )
 798             {
 799                 gps0 = gps1;
 800                 ++gps_count;
 801                 // cout << "count = " << count << endl;
 802                 gps1 = track.get_gpspt( gps_count );
 803             }
 804             // cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
 805             //      << endl;
 806
 807             // Advance imu pointer
 808             while ( current_time > imu1.time
 809                     && imu_count < track.imu_size() - 1 )
 810             {
 811                 imu0 = imu1;
 812                 ++imu_count;
 813                 // cout << "count = " << count << endl;
 814                 imu1 = track.get_imupt( imu_count );
 815             }
 816             //  cout << "pos0 = " << pos0.get_seconds()
 817             // << " pos1 = " << pos1.get_seconds() << endl;
 818
 819             // Advance nav pointer
 820             while ( current_time > nav1.time
 821                     && nav_count < track.nav_size() - 1 )
 822             {
 823                 nav0 = nav1;
 824                 ++nav_count;
 825                 // cout << "nav count = " << nav_count << endl;
 826                 nav1 = track.get_navpt( nav_count );
 827             }
 828             //  cout << "pos0 = " << pos0.get_seconds()
 829             // << " pos1 = " << pos1.get_seconds() << endl;
 830
 831             // Advance servo pointer
 832             while ( current_time > servo1.time
 833                     && servo_count < track.servo_size() - 1 )
 834             {
 835                 servo0 = servo1;
 836                 ++servo_count;
 837                 // cout << "count = " << count << endl;
 838                 servo1 = track.get_servopt( servo_count );
 839             }
 840             //  cout << "pos0 = " << pos0.get_seconds()
 841             // << " pos1 = " << pos1.get_seconds() << endl;
 842
 843             // Advance health pointer
 844             while ( current_time > health1.time
 845                     && health_count < track.health_size() - 1 )
 846             {
 847                 health0 = health1;
 848                 ++health_count;
 849                 // cout << "count = " << count << endl;
 850                 health1 = track.get_healthpt( health_count );
 851             }
 852             //  cout << "pos0 = " << pos0.get_seconds()
 853             // << " pos1 = " << pos1.get_seconds() << endl;
 854
 855             double gps_percent;
 856             if ( fabs(gps1.time - gps0.time) < 0.00001 ) {
 857                 gps_percent = 0.0;
 858             } else {
 859                 gps_percent =
 860                     (current_time - gps0.time) /
 861                     (gps1.time - gps0.time);
 862             }
 863             // cout << "Percent = " << percent << endl;
 864
 865             double imu_percent;
 866             if ( fabs(imu1.time - imu0.time) < 0.00001 ) {
 867                 imu_percent = 0.0;
 868             } else {
 869                 imu_percent =
 870                     (current_time - imu0.time) /
 871                     (imu1.time - imu0.time);
 872             }
 873             // cout << "Percent = " << percent << endl;
 874
 875             double nav_percent;
 876             if ( fabs(nav1.time - nav0.time) < 0.00001 ) {
 877                 nav_percent = 0.0;
 878             } else {
 879                 nav_percent =
 880                     (current_time - nav0.time) /
 881                     (nav1.time - nav0.time);
 882             }
 883             // cout << "Percent = " << percent << endl;
 884
 885             double servo_percent;
 886             if ( fabs(servo1.time - servo0.time) < 0.00001 ) {
 887                 servo_percent = 0.0;
 888             } else {
 889                 servo_percent =
 890                     (current_time - servo0.time) /
 891                     (servo1.time - servo0.time);
 892             }
 893             // cout << "Percent = " << percent << endl;
 894
 895             double health_percent;
 896             if ( fabs(health1.time - health0.time) < 0.00001 ) {
 897                 health_percent = 0.0;
 898             } else {
 899                 health_percent =
 900                     (current_time - health0.time) /
 901                     (health1.time - health0.time);
 902             }
 903             // cout << "Percent = " << percent << endl;
 904
 905             gps gpspacket = UGEARInterpGPS( gps0, gps1, gps_percent );
 906             imu imupacket = UGEARInterpIMU( imu0, imu1, imu_percent );
 907             nav navpacket = UGEARInterpNAV( nav0, nav1, nav_percent );
 908             servo servopacket = UGEARInterpSERVO( servo0, servo1,
 909                                                   servo_percent );
 910             health healthpacket = UGEARInterpHEALTH( health0, health1,
 911                                                   health_percent );
 912
 913             // cout << current_time << " " << p0.lat_deg << ", " << p0.lon_deg
 914             //      << endl;
 915             // cout << current_time << " " << p1.lat_deg << ", " << p1.lon_deg
 916             //      << endl;
 917             // cout << (double)current_time << " " << pos.lat_deg << ", "
 918             //      << pos.lon_deg << " " << att.yaw_deg << endl;
 919             if ( gpspacket.lat > -500 ) {
 920                 // printf( "%.3f  %.4f %.4f %.1f  %.2f %.2f %.2f\n",
 921                 //         current_time,
 922                 //         navpacket.lat, navpacket.lon, navpacket.alt,
 923                 //         imupacket.psi, imupacket.the, imupacket.phi );
 924                 double dlat = last_lat - navpacket.lat;
 925                 double dlon = last_lon - navpacket.lon;
 926                 double dist = sqrt( dlat*dlat + dlon*dlon );
 927                 if ( dist > 0.01 ) {
 928                     printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 929                            navpacket.lat, navpacket.lon );
 930                     // printf(" </wpt>\n");
 931                     last_lat = navpacket.lat;
 932                     last_lon = navpacket.lon;
 933                 }
 934             }
 935
 936             if ( (fabs(gpspacket.lat) < 0.0001 &&
 937                   fabs(gpspacket.lon) < 0.0001 &&
 938                   fabs(gpspacket.alt) < 0.0001) )
 939             {
 940                 printf("WARNING: LOST GPS!!!\n");
 941                 gps_status = -1.0;
 942             } else {
 943                 gps_status = 1.0;
 944             }
 945
 946             send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
 947                            &healthpacket );
 948
 949             if ( run_real_time ) {
 950                 // Update the elapsed time.
 951                 static bool first_time = true;
 952                 if ( first_time ) {
 953                     last_time_stamp.stamp();
 954                     first_time = false;
 955                 }
 956
 957                 current_time_stamp.stamp();
 958                 /* Convert to ms */
 959                 double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
 960                 if ( elapsed_us < (frame_us - 2000) ) {
 961                     double requested_us = (frame_us - elapsed_us) - 2000 ;
 962                     ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
 963                 }
 964                 current_time_stamp.stamp();
 965                 while ( (current_time_stamp - last_time_stamp).toUSecs() < frame_us ) {
 966                     current_time_stamp.stamp();
 967                 }
 968             }
 969
 970             current_time += (frame_us / 1000000.0);
 971             last_time_stamp = current_time_stamp;
 972         }
 973
 974         printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 975                nav1.lat, nav1.lon );
 976
 977         printf("  </trkseg>\n");
 978         printf(" </trk>\n");
 979         nav0 = track.get_navpt( 0 );
 980         nav1 = track.get_navpt( track.nav_size() - 1 );
 981         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 982                nav0.lat, nav0.lon );
 983         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 984                nav1.lat, nav1.lon );
 985         printf("<gpx>\n");
 986
 987         cout << "Processed " << imu_count << " entries in "
 988              << current_time_stamp - start_time << " seconds."
 989              << endl;
 990     } else if ( serialdev.length() ) {
 991         // process incoming data from the serial port
 992
 993         int count = 0;
 994         double current_time = 0.0;
 995         double last_time = 0.0;
 996
 997         gps gpspacket; bzero( &gpspacket, sizeof(gpspacket) );
 998         imu imupacket; bzero( &imupacket, sizeof(imupacket) );
 999         nav navpacket; bzero( &navpacket, sizeof(navpacket) );
1000         servo servopacket; bzero( &servopacket, sizeof(servopacket) );
1001         health healthpacket; bzero( &healthpacket, sizeof(healthpacket) );
1002
1003         double gps_time = 0.0;
1004         double imu_time = 0.0;
1005         double nav_time = 0.0;
1006         double servo_time = 0.0;
1007         double health_time = 0.0;
1008         double command_time = 0.0;
1009         double command_heartbeat = 0.0;
1010
1011         // open the serial port device
1012         SGSerialPort uavcom( serialdev, 115200 );
1013         if ( !uavcom.is_enabled() ) {
1014             cout << "Cannot open: " << serialdev << endl;
1015             return false;
1016         }
1017
1018         // open up the data log file if requested
1019         if ( !outfile.length() ) {
1020             cout << "no --outfile <name> specified, cannot capture data!"
1021                  << endl;
1022             return false;
1023         }
1024         SGFile log( outfile );
1025         if ( !log.open( SG_IO_OUT ) ) {
1026             cout << "Cannot open: " << outfile << endl;
1027             return false;
1028         }
1029
1030         // add some test commands
1031         //command_mgr.add("ap,alt,1000");
1032         //command_mgr.add("home,158.0,32.5");
1033         //command_mgr.add("go,home");
1034         //command_mgr.add("go,route");
1035
1036         while ( uavcom.is_enabled() ) {
1037             // cout << "looking for next message ..." << endl;
1038             int id = track.next_message( &uavcom, &log, &gpspacket,
1039                                          &imupacket, &navpacket, &servopacket,
1040                                          &healthpacket, ignore_checksum );
1041             // cout << "message id = " << id << endl;
1042             count++;
1043
1044             telnet.process();
1045
1046             if ( id == GPS_PACKET ) {
1047                 if ( gpspacket.time > gps_time ) {
1048                     gps_time = gpspacket.time;
1049                     current_time = gps_time;
1050                 } else {
1051                   cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
1052                 }
1053             } else if ( id == IMU_PACKET ) {
1054                 if ( imupacket.time > imu_time ) {
1055                     imu_time = imupacket.time;
1056                     current_time = imu_time;
1057                 } else {
1058                     cout << "oops imu back in time: " << imupacket.time << " " << imu_time << endl;
1059                 }
1060             } else if ( id == NAV_PACKET ) {
1061                 if ( navpacket.time > nav_time ) {
1062                     nav_time = navpacket.time;
1063                     current_time = nav_time;
1064                 } else {
1065                     cout << "oops nav back in time: " << navpacket.time << " " << nav_time << endl;
1066                 }
1067             } else if ( id == SERVO_PACKET ) {
1068                 if ( servopacket.time > servo_time ) {
1069                     servo_time = servopacket.time;
1070                     current_time = servo_time;
1071                 } else {
1072                     cout << "oops servo back in time: " << servopacket.time << " " << servo_time << endl;
1073                 }
1074             } else if ( id == HEALTH_PACKET ) {
1075                 if ( healthpacket.time > health_time ) {
1076                     health_time = healthpacket.time;
1077                     current_time = health_time;
1078                     printf("Received a health packet, sequence: %d\n",
1079                            (int)healthpacket.command_sequence);
1080                     command_mgr.update_cmd_sequence(healthpacket.command_sequence);
1081                 } else {
1082                     cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
1083                 }
1084
1085             }
1086
1087             if ( (current_time > gps_time + 2) ||
1088                  (fabs(gpspacket.lat) < 0.0001 &&
1089                   fabs(gpspacket.lon) < 0.0001 &&
1090                   fabs(gpspacket.alt) < 0.0001) )
1091             {
1092                 printf("WARNING: LOST GPS!!!\n");
1093                 gps_status = -1.0;
1094             } else {
1095                 gps_status = 1.0;
1096             }
1097
1098             // Generate a ground station heart beat every 4 seconds
1099             if ( current_time >= command_heartbeat + 4 ) {
1100                 command_mgr.add("hb");
1101                 command_heartbeat = current_time;
1102             }
1103
1104             // Command update @ 1hz
1105             if ( current_time >= command_time + 1 ) {
1106                 command_mgr.update(&uavcom);
1107                 command_time = current_time;
1108             }
1109
1110             // Relay data on to FlightGear and LFSTech Glass
1111             if ( current_time >= last_time + (1/hertz) ) {
1112                 // if ( gpspacket.lat > -500 ) {
1113                 int londeg = (int)navpacket.lon;
1114                 // double lonmin = fabs(navpacket.lon - londeg);
1115                 int latdeg = (int)navpacket.lat;
1116                 // double latmin = fabs(navpacket.lat - latdeg);
1117                 char londir = 'E'; if ( londeg < 0 ) londir = 'W';
1118                 char latdir = 'N'; if ( latdeg < 0 ) latdir = 'S';
1119                 londeg = abs(londeg);
1120                 latdeg = abs(latdeg);
1121                 /*printf( "%.2f  %c%02d:%.4f %c%03d:%.4f %.1f  %.2f %.2f %.2f\n",
1122                         current_time,
1123                         latdir, latdeg, latmin, londir, londeg, lonmin,
1124                         navpacket.alt,
1125                         imupacket.phi*SGD_RADIANS_TO_DEGREES,
1126                         imupacket.the*SGD_RADIANS_TO_DEGREES,
1127                         imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
1128                 // }
1129
1130                 last_time = current_time;
1131                 send_data_udp( &gpspacket, &imupacket, &navpacket,
1132                                &servopacket, &healthpacket );
1133             }
1134         }
1135     }
1136
1137     return 0;
1138 }