# include <config.h>
#endif
-#ifndef _MSC_VER
+#if !defined( _MSC_VER ) && !defined( __MINGW32__ )
# include <strings.h> // for bzero()
#else
# define bzero(a,b) memset(a,0,b)
#include <Network/net_fdm.hxx>
#include "UGear.hxx"
+#include "UGear_command.hxx"
+#include "UGear_opengc.hxx"
+#include "UGear_telnet.hxx"
-SG_USING_STD(cout);
-SG_USING_STD(endl);
-SG_USING_STD(string);
+using std::cout;
+using std::endl;
+using std::string;
// Network channels
-static netSocket fdm_sock, ctrls_sock;
+static netSocket fdm_sock, ctrls_sock, opengc_sock;
// ugear data
-UGEARTrack track;
+UGTrack track;
// Default ports
static int fdm_port = 5505;
static int ctrls_port = 5506;
+static int opengc_port = 6000;
// Default path
static string infile = "";
bool sg_swap = false;
bool use_ground_track_hdg = false;
+bool use_ground_speed = false;
bool est_controls = false;
+float gps_status = -1.0;
+
+
// The function htond is defined this way due to the way some
// processors and OSes treat floating point values. Some will raise
// an exception whenever a "bad" floating point value is loaded into a
fdm->psi = SGD_PI * 0.5 - atan2(vn, ve); // heading
}
- double mps = sqrt( vn*vn + ve*ve + vd*vd );
- double mph = mps * 3600 / 1609.3440;
+ double mps = 0.0;
+ if ( use_ground_speed ) {
+ mps = sqrt( vn*vn + ve*ve + vd*vd );
+ } else {
+ mps = imupacket->Pt;
+ }
+ // double mph = mps * 3600 / 1609.3440;
double kts = mps * SG_MPS_TO_KT;
fdm->vcas = kts;
- printf("speed = %.2f mph %.2f kts\n", mph, kts );
+ // printf("speed = %.2f mph %.2f kts\n", mph, kts );
+ static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
+ Ps_last = Ps;
+ Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
+ double climb = (Ps - Ps_last) / (imupacket->time - t_last);
+ t_last = imupacket->time;
+ static double climbf = 0.0;
+ climbf = 0.994 * climbf + 0.006 * climb;
+ fdm->climb_rate = climbf; // fps
+
+ static double Ps_error = 0.0;
+ static double Ps_count = 0;
+ const double span = 10000.0;
+ Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
+ double error = navpacket->alt - Ps;
+ Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
+ fdm->altitude = Ps + Ps_error;
+
+ /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
+ imupacket->time, imupacket->the, -navpacket->vd, climbf,
+ navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
+ imupacket->Ps, Ps, Ps + Ps_error); */
- fdm->climb_rate = 0; // fps
// cout << "climb rate = " << aero->hdota << endl;
fdm->v_north = 0.0;
fdm->v_east = 0.0;
est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
- fdm->elevator = -est_elev;
- fdm->left_aileron = est_aileron;
+ ctrls->elevator = fdm->elevator = -est_elev;
+ ctrls->aileron = fdm->left_aileron = est_aileron;
fdm->right_aileron = -est_aileron;
- fdm->rudder = est_rudder;
+ ctrls->rudder = fdm->rudder = est_rudder;
} else {
- fdm->elevator = ((double)servopacket->chn[1] / 32768.0) - 1.0;
- fdm->left_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
- fdm->right_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
- fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
+ ctrls->elevator = fdm->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
+ ctrls->aileron = fdm->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
+ fdm->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
+ ctrls->rudder = fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
+ ctrls->elevator *= 3.0;
+ ctrls->aileron *= 3.0;
}
fdm->elevator_trim_tab = 0.0;
fdm->left_flap = 0.0;
htonf(fdm->speedbrake);
htonf(fdm->spoilers);
+#if 0
+ ctrls->version = FG_NET_CTRLS_VERSION;
+ ctrls->elevator_trim = 0.0;
+ ctrls->flaps = 0.0;
+
+ htonl(ctrls->version);
+ htond(ctrls->aileron);
+ htond(ctrls->rudder);
+ htond(ctrls->elevator);
+ htond(ctrls->elevator_trim);
+ htond(ctrls->flaps);
+#endif
+}
+
+
+static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
+ servo *servopacket, health *healthpacket,
+ ogcFGData *ogc )
+{
+ // Version sanity checking
+ ogc->version_id = OGC_VERSION;
+ // Aero parameters
+ ogc->longitude = navpacket->lon;
+ ogc->latitude = navpacket->lat;
+ ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
+ ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
+ ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
+
+ ogc->phi_dot = 0.0;
+ ogc->theta_dot = 0.0;
+ ogc->psi_dot = 0.0;
+
+ ogc->alpha = 0.0;
+ ogc->beta = 0.0;
+ ogc->alpha_dot = 0.0;
+ ogc->beta_dot = 0.0;
+
+ ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
+ ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
+ ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
+ ogc->elevator_trim = 0.0;
+ ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
+ ogc->flaps = 0.0;
+ ogc->flaps_cmd = 0.0;
+
+ ogc->wind = 0.0;
+ ogc->wind_dir = 0.0;
+
+ // estimate speed
+ // double az1, az2, dist;
+ // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
+ // fdm->latitude, fdm->longitude, &az1, &az2, &dist );
+ // last_lat = fdm->latitude;
+ // last_lon = fdm->longitude;
+ // double v_ms = dist / (frame_us / 1000000);
+ // double v_kts = v_ms * SG_METER_TO_NM * 3600;
+ // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
+ // printf("dist = %.5f kts est = %.2f\n", dist, kts_filter);
+
+ double vn = navpacket->vn;
+ double ve = navpacket->ve;
+ double vd = navpacket->vd;
+
+ if ( use_ground_track_hdg ) {
+ ogc->heading = (SGD_PI * 0.5 - atan2(vn, ve)) * SG_RADIANS_TO_DEGREES;
+ }
+
+ if ( ogc->heading < 0 ) { ogc->heading += 360.0; }
+
+ double mps = 0.0;
+ if ( use_ground_speed ) {
+ mps = sqrt( vn*vn + ve*ve + vd*vd );
+ } else {
+ mps = imupacket->Pt;
+ }
+ // double mph = mps * 3600 / 1609.3440;
+ double kts = mps * SG_MPS_TO_KT;
+ ogc->v_kcas = kts;
+ // printf("speed = %.2f mph %.2f kts\n", mph, kts );
+ static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
+ Ps_last = Ps;
+ Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
+ double climb = (Ps - Ps_last) / (imupacket->time - t_last);
+ t_last = imupacket->time;
+ static double climbf = 0.0;
+ climbf = 0.994 * climbf + 0.006 * climb;
+ ogc->vvi = climbf; // fps
+
+ // uncomment one of the following schemes for setting elevation:
+
+ // use the navigation (inertially augmented gps estimate)
+ // ogc->altitude = ogc->elevation
+ // = (navpacket->alt + alt_offset * SG_METER_TO_FEET);
+
+ // use estimate error between pressure sensor and gps altitude over time
+ // use pressure sensor + error average for altitude estimate.
+ static double Ps_error = 0.0;
+ static double Ps_count = 0;
+ const double span = 10000.0;
+ Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
+ double error = navpacket->alt - Ps;
+ Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
+ ogc->elevation = (Ps + Ps_error) * SG_METER_TO_FEET;
+
+ /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
+ imupacket->time, imupacket->the, -navpacket->vd, climbf,
+ navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
+ imupacket->Ps, Ps, Ps + Ps_error); */
+
+ if ( est_controls ) {
+ static float est_elev = 0.0;
+ static float est_aileron = 0.0;
+ static float est_rudder = 0.0;
+ est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
+ est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
+ est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
+ ogc->elevator = -est_elev;
+ ogc->left_aileron = est_aileron;
+ ogc->right_aileron = -est_aileron;
+ ogc->rudder = est_rudder;
+ } else {
+ ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
+ ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
+ ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
+ ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
+ }
+ ogc->elevator *= 4.0;
+ ogc->left_aileron *= 4.0;
+ ogc->right_aileron *= 4.0;
+ ogc->rudder *= 4.0;
+
+ // additional "abused" data fields
+ ogc->egt[0] = ogc->bank - healthpacket->target_roll_deg; // flight director target roll
+ ogc->egt[1] = -ogc->pitch + healthpacket->target_pitch_deg; // flight director target pitch
+ ogc->egt[2] = healthpacket->target_heading_deg; // target heading bug
+ ogc->egt[3] = healthpacket->target_climb_fps; // target VVI bug
+ ogc->epr[0] = healthpacket->target_altitude_ft; // target altitude bug
+ ogc->epr[1] = 30.0; // target speed bug
+ ogc->epr[2] = gps_status; // gps status box
}
-static void send_data( gps *gpspacket, imu *imupacket, nav *navpacket,
- servo *servopacket, health *healthpacket ) {
+static void send_data_udp( gps *gpspacket, imu *imupacket, nav *navpacket,
+ servo *servopacket, health *healthpacket )
+{
int len;
+ int ogcsize = sizeof( ogcFGData );
int fdmsize = sizeof( FGNetFDM );
+ // int ctrlsize = sizeof( FGNetCtrls );
// cout << "Running main loop" << endl;
+ ogcFGData fgogc;
FGNetFDM fgfdm;
FGNetCtrls fgctrls;
ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
&fgfdm, &fgctrls );
+ ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
+ &fgogc );
+ len = opengc_sock.send(&fgogc, ogcsize, 0);
len = fdm_sock.send(&fgfdm, fdmsize, 0);
+ // len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
}
cout << "\t[ --hertz <hertz> ]" << endl;
cout << "\t[ --host <hostname> ]" << endl;
cout << "\t[ --broadcast ]" << endl;
+ cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
cout << "\t[ --groundtrack-heading ]" << endl;
+ cout << "\t[ --ground-speed ]" << endl;
cout << "\t[ --estimate-control-deflections ]" << endl;
cout << "\t[ --altitude-offset <meters> ]" << endl;
cout << "\t[ --skip-seconds <seconds> ]" << endl;
}
} else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
do_broadcast = true;
+ } else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
+ ++i;
+ if ( i < argc ) {
+ opengc_port = atoi( argv[i] );
+ } else {
+ usage( argv[0] );
+ exit( -1 );
+ }
} else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
++i;
if ( i < argc ) {
}
} else if ( strcmp (argv[i], "--groundtrack-heading" ) == 0 ) {
use_ground_track_hdg = true;
+ } else if ( strcmp (argv[i], "--ground-speed" ) == 0 ) {
+ use_ground_speed = true;
} else if (strcmp (argv[i], "--estimate-control-deflections" ) == 0) {
est_controls = true;
} else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
netInit( &argc,argv ); // We must call this before any other net stuff
+ if ( ! opengc_sock.open( false ) ) { // open a UDP socket
+ cout << "error opening opengc output socket" << endl;
+ return -1;
+ }
if ( ! fdm_sock.open( false ) ) { // open a UDP socket
cout << "error opening fdm output socket" << endl;
return -1;
}
cout << "open net channels" << endl;
+ opengc_sock.setBlocking( false );
fdm_sock.setBlocking( false );
ctrls_sock.setBlocking( false );
cout << "blocking false" << endl;
if ( do_broadcast ) {
+ opengc_sock.setBroadcast( true );
fdm_sock.setBroadcast( true );
ctrls_sock.setBroadcast( true );
}
+ if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
+ perror("connect");
+ cout << "error connecting to outgoing opengc port: " << out_host
+ << ":" << opengc_port << endl;
+ return -1;
+ }
+ cout << "connected outgoing opengc socket" << endl;
+
if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
perror("connect");
cout << "error connecting to outgoing fdm port: " << out_host
track.set_stargate_swap_mode();
}
+ UGTelnet telnet( 5402 );
+ telnet.open();
+
if ( infile.length() || flight_dir.length() ) {
if ( infile.length() ) {
// Load data from a stream log data file
if ( track.gps_size() > 0 ) {
double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
- int days = tmp / (24 * 60 * 60);
+ int days = (int)(tmp / (24 * 60 * 60));
tmp -= days * 24 * 60 * 60;
- int hours = tmp / (60 * 60);
+ int hours = (int)(tmp / (60 * 60));
tmp -= hours * 60 * 60;
- int min = tmp / 60;
+ int min = (int)(tmp / 60);
tmp -= min * 60;
double sec = tmp;
printf("[GPS ]:ITOW= %.3f[sec] %dd %02d:%02d:%06.3f\n",
}
}
- send_data( &gpspacket, &imupacket, &navpacket, &servopacket,
- &healthpacket );
+ if ( (fabs(gpspacket.lat) < 0.0001 &&
+ fabs(gpspacket.lon) < 0.0001 &&
+ fabs(gpspacket.alt) < 0.0001) )
+ {
+ printf("WARNING: LOST GPS!!!\n");
+ gps_status = -1.0;
+ } else {
+ gps_status = 1.0;
+ }
+
+ send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
+ &healthpacket );
if ( run_real_time ) {
// Update the elapsed time.
current_time_stamp.stamp();
/* Convert to ms */
- double elapsed_us = current_time_stamp - last_time_stamp;
+ double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
if ( elapsed_us < (frame_us - 2000) ) {
double requested_us = (frame_us - elapsed_us) - 2000 ;
ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
}
current_time_stamp.stamp();
- while ( current_time_stamp - last_time_stamp < frame_us ) {
+ while ( (current_time_stamp - last_time_stamp).toUSecs() < frame_us ) {
current_time_stamp.stamp();
}
}
printf("<gpx>\n");
cout << "Processed " << imu_count << " entries in "
- << (current_time_stamp - start_time) / 1000000 << " seconds."
+ << current_time_stamp - start_time << " seconds."
<< endl;
} else if ( serialdev.length() ) {
// process incoming data from the serial port
servo servopacket; bzero( &servopacket, sizeof(servopacket) );
health healthpacket; bzero( &healthpacket, sizeof(healthpacket) );
- double gps_time = 0;
- double imu_time = 0;
- double nav_time = 0;
- double servo_time = 0;
- double health_time = 0;
+ double gps_time = 0.0;
+ double imu_time = 0.0;
+ double nav_time = 0.0;
+ double servo_time = 0.0;
+ double health_time = 0.0;
+ double command_time = 0.0;
+ double command_heartbeat = 0.0;
// open the serial port device
- SGSerialPort input( serialdev, 115200 );
- if ( !input.is_enabled() ) {
+ SGSerialPort uavcom( serialdev, 115200 );
+ if ( !uavcom.is_enabled() ) {
cout << "Cannot open: " << serialdev << endl;
return false;
}
<< endl;
return false;
}
- SGFile output( outfile );
- if ( !output.open( SG_IO_OUT ) ) {
+ SGFile log( outfile );
+ if ( !log.open( SG_IO_OUT ) ) {
cout << "Cannot open: " << outfile << endl;
return false;
}
- while ( input.is_enabled() ) {
+ // add some test commands
+ //command_mgr.add("ap,alt,1000");
+ //command_mgr.add("home,158.0,32.5");
+ //command_mgr.add("go,home");
+ //command_mgr.add("go,route");
+
+ while ( uavcom.is_enabled() ) {
// cout << "looking for next message ..." << endl;
- int id = track.next_message( &input, &output, &gpspacket,
+ int id = track.next_message( &uavcom, &log, &gpspacket,
&imupacket, &navpacket, &servopacket,
&healthpacket, ignore_checksum );
// cout << "message id = " << id << endl;
count++;
+ telnet.process();
+
if ( id == GPS_PACKET ) {
if ( gpspacket.time > gps_time ) {
gps_time = gpspacket.time;
if ( healthpacket.time > health_time ) {
health_time = healthpacket.time;
current_time = health_time;
+ printf("Received a health packet, sequence: %d\n",
+ (int)healthpacket.command_sequence);
+ command_mgr.update_cmd_sequence(healthpacket.command_sequence);
} else {
cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
}
+
+ }
+
+ if ( (current_time > gps_time + 2) ||
+ (fabs(gpspacket.lat) < 0.0001 &&
+ fabs(gpspacket.lon) < 0.0001 &&
+ fabs(gpspacket.alt) < 0.0001) )
+ {
+ printf("WARNING: LOST GPS!!!\n");
+ gps_status = -1.0;
+ } else {
+ gps_status = 1.0;
}
+ // Generate a ground station heart beat every 4 seconds
+ if ( current_time >= command_heartbeat + 4 ) {
+ command_mgr.add("hb");
+ command_heartbeat = current_time;
+ }
+
+ // Command update @ 1hz
+ if ( current_time >= command_time + 1 ) {
+ command_mgr.update(&uavcom);
+ command_time = current_time;
+ }
+
+ // Relay data on to FlightGear and LFSTech Glass
if ( current_time >= last_time + (1/hertz) ) {
// if ( gpspacket.lat > -500 ) {
- printf( "%.2f %.6f %.6f %.1f %.2f %.2f %.2f %.2f %d\n",
+ int londeg = (int)navpacket.lon;
+ // double lonmin = fabs(navpacket.lon - londeg);
+ int latdeg = (int)navpacket.lat;
+ // double latmin = fabs(navpacket.lat - latdeg);
+ char londir = 'E'; if ( londeg < 0 ) londir = 'W';
+ char latdir = 'N'; if ( latdeg < 0 ) latdir = 'S';
+ londeg = abs(londeg);
+ latdeg = abs(latdeg);
+ /*printf( "%.2f %c%02d:%.4f %c%03d:%.4f %.1f %.2f %.2f %.2f\n",
current_time,
- navpacket.lat, navpacket.lon, navpacket.alt,
+ latdir, latdeg, latmin, londir, londeg, lonmin,
+ navpacket.alt,
imupacket.phi*SGD_RADIANS_TO_DEGREES,
imupacket.the*SGD_RADIANS_TO_DEGREES,
- imupacket.psi*SGD_RADIANS_TO_DEGREES,
- healthpacket.volts,
- healthpacket.est_seconds);
+ imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
// }
last_time = current_time;
- send_data( &gpspacket, &imupacket, &navpacket, &servopacket,
- &healthpacket );
+ send_data_udp( &gpspacket, &imupacket, &navpacket,
+ &servopacket, &healthpacket );
}
}
}
projects / flightgear.git / blobdiff