#define START_OF_MSG1 224
-UGEARTrack::UGEARTrack():
+UGTrack::UGTrack():
sg_swap(false)
{
};
-UGEARTrack::~UGEARTrack() {};
+UGTrack::~UGTrack() {};
// swap the 1st 4 bytes with the last 4 bytes of a stargate double so
}
-void UGEARTrack::parse_msg( const int id, char *buf,
+void UGTrack::parse_msg( const int id, char *buf,
struct gps *gpspacket, imu *imupacket,
nav *navpacket, servo *servopacket,
health *healthpacket )
// load the named stream log file into internal buffers
-bool UGEARTrack::load_stream( const string &file, bool ignore_checksum ) {
+bool UGTrack::load_stream( const string &file, bool ignore_checksum ) {
int count = 0;
gps gpspacket;
// load the named stream log file into internal buffers
-bool UGEARTrack::load_flight( const string &path ) {
+bool UGTrack::load_flight( const string &path ) {
gps gpspacket;
imu imupacket;
nav navpacket;
// open the gps file
file = path; file.append( "gps.dat.gz" );
if ( (fgps = gzopen( file.c_str(), "r" )) == NULL ) {
- printf("Cannont open %s\n", file.c_str());
+ printf("Cannot open %s\n", file.c_str());
return false;
}
// load the next message of a real time data stream
-int UGEARTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
+int UGTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket,
bool ignore_checksum )
// load the next message of a real time data stream
-int UGEARTrack::next_message( SGSerialPort *serial, SGIOChannel *log,
- gps *gpspacket, imu *imupacket, nav *navpacket,
- servo *servopacket, health *healthpacket,
- bool ignore_checksum )
+int UGTrack::next_message( SGSerialPort *serial, SGIOChannel *log,
+ gps *gpspacket, imu *imupacket, nav *navpacket,
+ servo *servopacket, health *healthpacket,
+ bool ignore_checksum )
{
char tmpbuf[256];
char savebuf[256];
health UGEARInterpHEALTH( const health A, const health B, const double percent )
{
health p;
- p.volts_raw = interp(A.volts_raw, B.volts_raw, percent);
- p.volts = interp(A.volts, B.volts, percent);
- p.est_seconds = (uint16_t)interp(A.est_seconds, B.est_seconds, percent);
+ p.command_sequence = B.command_sequence;
p.time = interp(A.time, B.time, percent);
return p;
--- /dev/null
+#include "UGear_command.hxx"
+
+
+UGCommand::UGCommand():
+ cmd_send_index(0),
+ cmd_recv_index(0),
+ prime_state(true)
+{}
+
+
+UGCommand::~UGCommand() {}
+
+
+// calculate the nmea check sum
+static char calc_nmea_cksum(const char *sentence) {
+ unsigned char sum = 0;
+ int i, len;
+
+ // cout << sentence << endl;
+
+ len = strlen(sentence);
+ sum = sentence[0];
+ for ( i = 1; i < len; i++ ) {
+ // cout << sentence[i];
+ sum ^= sentence[i];
+ }
+ // cout << endl;
+
+ // printf("sum = %02x\n", sum);
+ return sum;
+}
+
+
+// package and send the serial command
+static int serial_send( SGSerialPort *serial, int sequence,
+ const string command )
+{
+ char sequence_str[10];
+ snprintf( sequence_str, 9, "%d", sequence );
+
+ string package = sequence_str;
+ package += ",";
+ package += command;
+
+ char pkg_sum[10];
+ snprintf( pkg_sum, 3, "%02X", calc_nmea_cksum(package.c_str()) );
+
+ package += "*";
+ package += pkg_sum;
+ package += "\n";
+
+ unsigned int result = serial->write_port( package.c_str(),
+ package.length() );
+ if ( result != package.length() ) {
+ printf("ERROR: wrote %d of %d bytes to serial port!\n",
+ result, package.length() );
+ return 0;
+ }
+
+ return 1;
+}
+
+
+// send current command until acknowledged
+int UGCommand::update( SGSerialPort *serial )
+{
+ // if current command has been received, advance to next command
+ printf("sent = %d recv = %d\n", cmd_send_index, cmd_recv_index);
+ if ( cmd_recv_index >= cmd_send_index ) {
+ if ( ! cmd_queue.empty() ) {
+ if ( ! prime_state ) {
+ cmd_queue.pop();
+ cmd_send_index++;
+ } else {
+ prime_state = false;
+ }
+ }
+ }
+
+ // nothing to do if command queue empty
+ if ( cmd_queue.empty() ) {
+ prime_state = true;
+ return 0;
+ }
+
+ // send the command
+ string command = cmd_queue.front();
+ int result = serial_send( serial, cmd_send_index, command );
+
+ return cmd_send_index;
+}
+
+
+void UGCommand::add( const string command )
+{
+ printf("command queue: %s\n", command.c_str());
+ cmd_queue.push( command );
+}
#include <Network/net_fdm.hxx>
#include "UGear.hxx"
+#include "UGear_command.hxx"
#include "UGear_opengc.hxx"
static netSocket 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;
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[1] = -ogc->pitch + 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[0] = 1400 /*ogc->elevation - 50*/ ; // target altitude bug
ogc->epr[1] = ogc->v_kcas + 5; // 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;
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.
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() ) {
+ // create the command channel manager
+ UGCommand command;
+
+ // add some test commands
+ command.add("apalt,1000");
+ command.add("home,158.0,32.5");
+ command.add("gohome");
+
+ 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;
if ( healthpacket.time > health_time ) {
health_time = healthpacket.time;
current_time = health_time;
+ printf("Received a health packet, sequence: %d\n",
+ healthpacket.command_sequence);
+ command.update_cmd_sequence(healthpacket.command_sequence);
} else {
cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
}
+
}
if ( (current_time > gps_time + 2) ||
gps_status = -1.0;
}
+ // Generate a ground station heart beat every 5 seconds
+ if ( current_time >= command_heartbeat + 5 ) {
+ command.add("hb");
+ command_heartbeat = current_time;
+ }
+
+ // Command update @ 1hz
+ if ( current_time >= command_time + 1 ) {
+ command.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;
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 / commitdiff