- UGsmooth now can send opengc packets directly rather than piping through
a running copy of FlightGear (no need to have FlightGear running on weaker powered groundstations.) - Add a test for "valid" gps data. - Pretty print gps coordinates in debug output.
This commit is contained in:
curt
parent
d28b509e5f
commit
817ba71a2e
2 changed files with 328 additions and 3 deletions
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@ -24,6 +24,7 @@
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#include <Network/net_fdm.hxx>
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#include "UGear.hxx"
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#include "UGear_opengc.hxx"
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SG_USING_STD(cout);
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@ -32,7 +33,7 @@ SG_USING_STD(string);
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// Network channels
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static netSocket fdm_sock, ctrls_sock;
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static netSocket fdm_sock, ctrls_sock, opengc_sock;
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// ugear data
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UGEARTrack track;
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@ -40,6 +41,7 @@ UGEARTrack track;
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// Default ports
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static int fdm_port = 5505;
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static int ctrls_port = 5506;
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static int opengc_port = 6000;
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// Default path
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static string infile = "";
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@ -78,6 +80,9 @@ bool use_ground_speed = false;
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bool est_controls = false;
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float gps_status = -1.0;
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// The function htond is defined this way due to the way some
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// processors and OSes treat floating point values. Some will raise
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// an exception whenever a "bad" floating point value is loaded into a
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@ -355,19 +360,145 @@ static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
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}
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static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health *healthpacket,
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ogcFGData *ogc )
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{
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unsigned int i;
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// Version sanity checking
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ogc->version_id = OGC_VERSION;
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// Aero parameters
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ogc->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
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ogc->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
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ogc->altitude = ogc->elevation = navpacket->alt + alt_offset;
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ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
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ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
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ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
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ogc->phi_dot = 0.0;
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ogc->theta_dot = 0.0;
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ogc->psi_dot = 0.0;
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ogc->alpha = 0.0;
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ogc->beta = 0.0;
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ogc->alpha_dot = 0.0;
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ogc->beta_dot = 0.0;
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ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
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ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
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ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
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ogc->elevator_trim = 0.0;
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ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
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ogc->flaps = 0.0;
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ogc->flaps_cmd = 0.0;
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ogc->wind = 0.0;
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ogc->wind_dir = 0.0;
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// estimate speed
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// double az1, az2, dist;
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// geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
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// fdm->latitude, fdm->longitude, &az1, &az2, &dist );
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// last_lat = fdm->latitude;
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// last_lon = fdm->longitude;
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// double v_ms = dist / (frame_us / 1000000);
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// double v_kts = v_ms * SG_METER_TO_NM * 3600;
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// kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
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// printf("dist = %.5f kts est = %.2f\n", dist, kts_filter);
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double vn = navpacket->vn;
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double ve = navpacket->ve;
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double vd = navpacket->vd;
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if ( use_ground_track_hdg ) {
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ogc->heading = (SGD_PI * 0.5 - atan2(vn, ve)) * SG_RADIANS_TO_DEGREES;
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}
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if ( ogc->heading < 0 ) { ogc->heading += 360.0; }
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double mps = 0.0;
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if ( use_ground_speed ) {
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mps = sqrt( vn*vn + ve*ve + vd*vd );
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} else {
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mps = imupacket->Pt;
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}
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// double mph = mps * 3600 / 1609.3440;
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double kts = mps * SG_MPS_TO_KT;
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ogc->v_kcas = kts;
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// printf("speed = %.2f mph %.2f kts\n", mph, kts );
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static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
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Ps_last = Ps;
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Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
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double climb = (Ps - Ps_last) / (imupacket->time - t_last);
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t_last = imupacket->time;
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static double climbf = 0.0;
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climbf = 0.994 * climbf + 0.006 * climb;
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ogc->vvi = climbf; // fps
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static double Ps_error = 0.0;
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static double Ps_count = 0;
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const double span = 10000.0;
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Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
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double error = navpacket->alt - Ps;
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Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
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ogc->elevation = Ps + Ps_error;
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printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
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imupacket->time, imupacket->the, -navpacket->vd, climbf,
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navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
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imupacket->Ps, Ps, Ps + Ps_error);
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if ( est_controls ) {
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static float est_elev = 0.0;
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static float est_aileron = 0.0;
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static float est_rudder = 0.0;
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est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
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est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
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est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
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ogc->elevator = -est_elev;
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ogc->left_aileron = est_aileron;
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ogc->right_aileron = -est_aileron;
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ogc->rudder = est_rudder;
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} else {
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ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
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ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
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ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
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ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
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}
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// additional "abused" data fields
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double fd_bank = 0.0;
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double fd_pitch = 0.0;
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ogc->egt[0] = ogc->bank + fd_bank; // flight director target roll
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ogc->egt[1] = -ogc->pitch * 2 + fd_pitch; // flight director target pitch
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ogc->egt[2] = ogc->heading + 15; // target heading bug
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ogc->egt[3] = -ogc->vvi; // target VVI bug
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ogc->epr[0] = ogc->altitude + 100; // target altitude bug
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ogc->epr[1] = ogc->v_kcas + 5; // target speed bug
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ogc->epr[2] = gps_status; // gps status box
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}
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static void send_data( gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health *healthpacket ) {
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int len;
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int ogcsize = sizeof( ogcFGData );
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int fdmsize = sizeof( FGNetFDM );
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int ctrlsize = sizeof( FGNetCtrls );
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// cout << "Running main loop" << endl;
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ogcFGData fgogc;
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FGNetFDM fgfdm;
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FGNetCtrls fgctrls;
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ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
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&fgfdm, &fgctrls );
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ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
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&fgogc );
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len = opengc_sock.send(&fgogc, ogcsize, 0);
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len = fdm_sock.send(&fgfdm, fdmsize, 0);
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// len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
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}
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@ -383,6 +514,7 @@ void usage( const string &argv0 ) {
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cout << "\t[ --hertz <hertz> ]" << endl;
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cout << "\t[ --host <hostname> ]" << endl;
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cout << "\t[ --broadcast ]" << endl;
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cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
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cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
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cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
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cout << "\t[ --groundtrack-heading ]" << endl;
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@ -456,6 +588,14 @@ int main( int argc, char **argv ) {
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}
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} else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
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do_broadcast = true;
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} else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
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++i;
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if ( i < argc ) {
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opengc_port = atoi( argv[i] );
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
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++i;
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if ( i < argc ) {
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@ -510,6 +650,10 @@ int main( int argc, char **argv ) {
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netInit( &argc,argv ); // We must call this before any other net stuff
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if ( ! opengc_sock.open( false ) ) { // open a UDP socket
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cout << "error opening opengc output socket" << endl;
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return -1;
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}
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if ( ! fdm_sock.open( false ) ) { // open a UDP socket
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cout << "error opening fdm output socket" << endl;
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return -1;
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@ -520,15 +664,25 @@ int main( int argc, char **argv ) {
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}
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cout << "open net channels" << endl;
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opengc_sock.setBlocking( false );
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fdm_sock.setBlocking( false );
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ctrls_sock.setBlocking( false );
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cout << "blocking false" << endl;
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if ( do_broadcast ) {
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opengc_sock.setBroadcast( true );
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fdm_sock.setBroadcast( true );
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ctrls_sock.setBroadcast( true );
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}
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if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
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perror("connect");
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cout << "error connecting to outgoing opengc port: " << out_host
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<< ":" << opengc_port << endl;
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return -1;
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}
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cout << "connected outgoing opengc socket" << endl;
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if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
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perror("connect");
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cout << "error connecting to outgoing fdm port: " << out_host
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@ -766,6 +920,16 @@ int main( int argc, char **argv ) {
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}
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}
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if ( (fabs(gpspacket.lat) < 0.0001 &&
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fabs(gpspacket.lon) < 0.0001 &&
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fabs(gpspacket.alt) < 0.0001) )
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{
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printf("WARNING: LOST GPS!!!\n");
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gps_status = -1.0;
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} else {
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gps_status = 1.0;
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}
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send_data( &gpspacket, &imupacket, &navpacket, &servopacket,
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&healthpacket );
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@ -893,11 +1057,31 @@ int main( int argc, char **argv ) {
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}
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}
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if ( (current_time > gps_time + 2) ||
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(fabs(gpspacket.lat) < 0.0001 &&
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fabs(gpspacket.lon) < 0.0001 &&
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fabs(gpspacket.alt) < 0.0001) )
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{
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printf("WARNING: LOST GPS!!!\n");
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gps_status = 1.0;
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} else {
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gps_status = -1.0;
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}
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if ( current_time >= last_time + (1/hertz) ) {
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// if ( gpspacket.lat > -500 ) {
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printf( "%.2f %.6f %.6f %.1f %.2f %.2f %.2f %.2f %d\n",
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int londeg = (int)navpacket.lon;
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double lonmin = fabs(navpacket.lon - londeg);
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int latdeg = (int)navpacket.lat;
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double latmin = fabs(navpacket.lat - latdeg);
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char londir = 'E'; if ( londeg < 0 ) londir = 'W';
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char latdir = 'N'; if ( latdeg < 0 ) latdir = 'S';
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londeg = abs(londeg);
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latdeg = abs(latdeg);
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printf( "%.2f %c%02d:%.4f %c%03d:%.4f %.1f %.2f %.2f %.2f %.2f %d\n",
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current_time,
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navpacket.lat, navpacket.lon, navpacket.alt,
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latdir, latdeg, latmin, londir, londeg, lonmin,
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navpacket.alt,
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imupacket.phi*SGD_RADIANS_TO_DEGREES,
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imupacket.the*SGD_RADIANS_TO_DEGREES,
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imupacket.psi*SGD_RADIANS_TO_DEGREES,
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141
utils/GPSsmooth/UGear_opengc.hxx
Normal file
141
utils/GPSsmooth/UGear_opengc.hxx
Normal file
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@ -0,0 +1,141 @@
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// opengc_data.hxx -- Define structure of OpenGC/FG uint32_terface parameters
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//
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// Version by J. Wojnaroski for uint32_terface to Open Glass Displays
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//
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// Modified 02/12/01 - Update engine structure for multi-engine models
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// - Added data preamble to id msg types
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//
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// Modified 01/23/02 - Converted portions of the Engine and Gear accesssors to properties
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// - Removed data from navigation functions. OpenGC provides own
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//
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// This file defines the class/structure of the UDP packet that sends
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// the simulation data created by FlightGear to the glass displays. It
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// is required to "sync" the data types contained in the packet
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (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
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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#ifndef _OPENGC_DATA_HXX
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#define _OPENGC_DATA_HXX
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#ifndef __cplusplus
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# error This library requires C++
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#endif
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const uint32_t OGC_VERSION = 4;
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typedef unsigned int uint32_t;
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class ogcFGData {
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public:
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// defines msg types and contents. The msg_content is used as a 'pouint32_ter' to
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// a predefined set of msg strings
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uint32_t version_id;
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uint32_t msg_type;
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uint32_t msg_content;
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uint32_t reserved;
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// position
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double latitude;
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double longitude;
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double elevation;
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double magvar;
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// flight parameters
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double pitch;
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double bank;
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double heading;
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double altitude;
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double altitude_agl; // this can also be the radar altimeter
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double v_kcas;
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double groundspeed;
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double vvi;
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double mach;
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double v_keas; // equivalent airspeed in knots
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// Data used by the FMC and autopilots
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double phi_dot;
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double theta_dot;
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double psi_dot;
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double alpha;
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double alpha_dot;
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double beta;
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double beta_dot;
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// Control surface positions
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double left_aileron;
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double right_aileron;
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double aileron_trim;
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double elevator;
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double elevator_trim;
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double rudder;
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double rudder_trim;
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double flaps;
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double flaps_cmd;
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// gear positions 0 = up and 1 = down The 747 has 5 wheel bogey assemblies
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double gear_nose;
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double gear_left;
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double gear_right;
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double gear_left_rear;
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double gear_right_rear;
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double parking_brake;
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uint32_t wow_main; // logical and of main gear
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uint32_t wow_nose;
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// engine data
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double rpm[4]; // this is for pistons, jets see below
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double n1_turbine[4];
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double epr[4];
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double egt[4];
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double n2_turbine[4];
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double fuel_flow[4];
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double man_pressure[4];
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double oil_pressure[4];
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double oil_temp[4];
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double oil_quantity[4];
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double hyd_pressure[4];
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double throttle[4];
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double mixture[4];
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double prop_advance[4];
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// fuel system
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uint32_t num_tanks;
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double fuel_tank[9];
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// Pressures and temperatures
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double static_temperature;
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double total_temperature;
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double static_pressure;
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double total_pressure;
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double dynamic_pressure;
|
||||
|
||||
// more environmental data
|
||||
double wind;
|
||||
double wind_dir;
|
||||
double sea_level_pressure;
|
||||
|
||||
};
|
||||
|
||||
#endif // _OPENGC_HXX
|
||||
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Reference in a new issue