# include <config.h>
#endif
-#ifndef _MSC_VER
+#ifdef HAVE_WINDOWS_H
+# include <windows.h>
+#else
+# include <netinet/in.h> // htonl() ntohl()
+#endif
+
+#ifndef _WIN32
# include <strings.h> // for bzero()
#else
# define bzero(a,b) memset(a,0,b)
#include <iostream>
#include <string>
-#include <plib/net.h>
#include <plib/sg.h>
#include <simgear/constants.h>
#include <simgear/io/lowlevel.hxx> // endian tests
#include <simgear/io/sg_file.hxx>
+#include <simgear/io/raw_socket.hxx>
#include <simgear/serial/serial.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/timestamp.hxx>
#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, opengc_sock;
+static simgear::Socket fdm_sock, ctrls_sock, opengc_sock;
// ugear data
-UGEARTrack track;
+UGTrack track;
// Default ports
static int fdm_port = 5505;
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",
+ /* 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);
+ imupacket->Ps, Ps, Ps + Ps_error); */
// cout << "climb rate = " << aero->hdota << endl;
fdm->v_north = 0.0;
servo *servopacket, health *healthpacket,
ogcFGData *ogc )
{
- unsigned int i;
-
// Version sanity checking
ogc->version_id = OGC_VERSION;
// Aero parameters
- ogc->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
- ogc->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
- ogc->altitude = ogc->elevation = navpacket->alt + alt_offset;
+ 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;
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;
+ ogc->elevation = (Ps + Ps_error) * SG_METER_TO_FEET;
- printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
+ /* 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);
+ imupacket->Ps, Ps, Ps + Ps_error); */
if ( est_controls ) {
static float est_elev = 0.0;
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
- double fd_bank = 0.0;
- double fd_pitch = 0.0;
- ogc->egt[0] = ogc->bank + fd_bank; // flight director target roll
- ogc->egt[1] = -ogc->pitch * 2 + fd_pitch; // flight director target pitch
- ogc->egt[2] = ogc->heading + 15; // target heading bug
- ogc->egt[3] = -ogc->vvi; // target VVI bug
- ogc->epr[0] = ogc->altitude + 100; // target altitude bug
- ogc->epr[1] = ogc->v_kcas + 5; // target speed bug
+ 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 );
+ // int ctrlsize = sizeof( FGNetCtrls );
// cout << "Running main loop" << endl;
// Setup up outgoing network connections
- netInit( &argc,argv ); // We must call this before any other net stuff
+ simgear::Socket::initSockets(); // 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;
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",
gps_status = 1.0;
}
- send_data( &gpspacket, &imupacket, &navpacket, &servopacket,
- &healthpacket );
+ 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.alt) < 0.0001) )
{
printf("WARNING: LOST GPS!!!\n");
- gps_status = 1.0;
- } else {
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 ) {
int londeg = (int)navpacket.lon;
- double lonmin = fabs(navpacket.lon - londeg);
+ // double lonmin = fabs(navpacket.lon - londeg);
int latdeg = (int)navpacket.lat;
- double latmin = fabs(navpacket.lat - latdeg);
+ // 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 %.2f %d\n",
+ /*printf( "%.2f %c%02d:%.4f %c%03d:%.4f %.1f %.2f %.2f %.2f\n",
current_time,
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