Set control surface positions when using an external network fdm.
Fetch all pending remote fdm network packets so there is not chance of getting behind. Add support for driving control panel lights. Working on better modeling KX 155 tuning behavior.
This commit is contained in:
curt
parent
63eb4d8668
commit
e2e640ef46
4 changed files with 124 additions and 31 deletions
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@ -78,7 +78,14 @@ static void global2raw( FGRawCtrls *raw ) {
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raw->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
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raw->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
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raw->magnetos[i] = node->getIntValue( "magnetos", 0 );
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if ( i == 0 ) {
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// cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
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}
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raw->starter[i] = node->getBoolValue( "starter", false );
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if ( i == 0 ) {
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// cout << " Starter -> " << node->getIntValue( "stater", false )
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// << endl;
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}
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}
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for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
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raw->brake[i] = node->getDoubleValue( "brakes", 0.0 );
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@ -214,6 +221,15 @@ static void net2global( FGNetFDM *net ) {
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}
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fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
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SGPropertyNode * node = fgGetNode("/controls", true);
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fgSetDouble("/surface-positions/elevator-pos-norm",
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node->getDoubleValue( "elevator" ));
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fgSetDouble("/surface-positions/rudder-pos-norm",
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node->getDoubleValue( "rudder" ));
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fgSetDouble("/surface-positions/left-aileron-pos-norm",
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node->getDoubleValue( "aileron" ));
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fgSetDouble("/surface-positions/right-aileron-pos-norm",
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-node->getDoubleValue( "aileron" ));
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/* these are ignored for now ... */
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/*
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@ -329,9 +345,7 @@ void FGExternalNet::init() {
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}
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// Run an iteration of the EOM. This is a NOP here because the flight
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// model values are getting filled in elsewhere (most likely from some
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// external source.)
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// Run an iteration of the EOM.
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void FGExternalNet::update( double dt ) {
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int length;
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int result;
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@ -348,7 +362,7 @@ void FGExternalNet::update( double dt ) {
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// Read next set of FDM data (blocking enabled to maintain 'sync')
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length = sizeof(fdm);
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if ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
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while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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net2global( &fdm );
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}
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@ -574,6 +574,7 @@ setFDMDataLogging (bool state)
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void
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fgInitProps ()
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{
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cout << "start of fgInitProps()" << endl;
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// Simulation
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fgTie("/sim/logging/priority", getLoggingPriority, setLoggingPriority);
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fgTie("/sim/logging/classes", getLoggingClasses, setLoggingClasses);
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@ -611,7 +612,8 @@ fgInitProps ()
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fgTie("/sim/temp/winding-ccw", getWindingCCW, setWindingCCW, false);
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fgTie("/sim/temp/full-screen", getFullScreen, setFullScreen);
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fgTie("/sim/temp/fdm-data-logging", getFDMDataLogging, setFDMDataLogging);
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cout << "end of fgInitProps()" << endl;
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}
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@ -181,6 +181,29 @@ static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
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}
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// Turn a lamp on or off
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void ATC610xSetLamp( int fd, int channel, bool value ) {
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// lamp channels 0-63 are written to LampPort0, channels 64-127
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// are written to LampPort1
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// bits 0-6 are the lamp address
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// bit 7 is the value (on/off)
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int result;
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// Write the value
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unsigned char buf[3];
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buf[0] = channel;
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buf[1] = value;
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buf[2] = 0;
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result = write( fd, buf, 2 );
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if ( result != 2 ) {
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cout << "Write failed" << endl;
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exit( -1 );
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}
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}
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// Open and initialize ATC 610x hardware
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bool FGATC610x::open() {
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if ( is_enabled() ) {
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@ -199,6 +222,7 @@ bool FGATC610x::open() {
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snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
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snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
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snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
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snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
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snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
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snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
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@ -225,6 +249,15 @@ bool FGATC610x::open() {
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exit( -1 );
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}
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lamps_fd = ::open( lamps_file, O_WRONLY );
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if ( lamps_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", lamps_file );
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perror( msg );
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exit( -1 );
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}
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radios_fd = ::open( radios_file, O_RDWR );
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if ( radios_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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@ -273,7 +306,7 @@ bool FGATC610x::open() {
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bool home = false;
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int timeout = 900; // about 30 seconds
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while ( ! home ) {
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while ( ! home && timeout > 0 ) {
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if ( timeout % 150 == 0 ) {
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SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
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} else {
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@ -323,6 +356,14 @@ bool FGATC610x::open() {
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ATC610xRelease( lock_fd );
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/////////////////////////////////////////////////////////////////////
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// Blank the lamps
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/////////////////////////////////////////////////////////////////////
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for ( int i = 0; i < 128; ++i ) {
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ATC610xSetLamp( lamps_fd, i, false );
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}
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/////////////////////////////////////////////////////////////////////
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// Finished initing hardware
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/////////////////////////////////////////////////////////////////////
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@ -358,6 +399,10 @@ bool FGATC610x::open() {
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adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
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adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
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inner = fgGetNode( "/radios/marker-beacon/inner", true );
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middle = fgGetNode( "/radios/marker-beacon/middle", true );
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outer = fgGetNode( "/radios/marker-beacon/outer", true );
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return true;
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}
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@ -434,12 +479,26 @@ bool FGATC610x::do_analog_in() {
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}
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/////////////////////////////////////////////////////////////////////
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// Write the lights
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/////////////////////////////////////////////////////////////////////
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bool FGATC610x::do_lights() {
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ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
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ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
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ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
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return true;
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}
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/////////////////////////////////////////////////////////////////////
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// Read radio switches
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/////////////////////////////////////////////////////////////////////
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bool FGATC610x::do_radio_switches() {
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float freq, inc;
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float freq, coarse_freq, fine_freq, inc;
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ATC610xReadRadios( radios_fd, radio_switch_data );
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@ -511,7 +570,7 @@ bool FGATC610x::do_radio_switches() {
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if ( com1_tuner_fine == 0x0c && last_com1_tuner_fine == 0x01 ) {
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inc = -0.025;
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} else if ( com1_tuner_fine == 0x01 && last_com1_tuner_fine == 0x0c ) {
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inc = -0.025;
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inc = 0.025;
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} else if ( com1_tuner_fine > last_com1_tuner_fine ) {
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inc = 0.025;
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} else {
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@ -523,7 +582,7 @@ bool FGATC610x::do_radio_switches() {
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inc = -1.0;
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} else if ( com1_tuner_course == 0x01
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&& last_com1_tuner_course == 0x0c ) {
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inc = -1.0;
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inc = 1.0;
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} else if ( com1_tuner_course > last_com1_tuner_course ) {
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inc = 1.0;
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} else {
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@ -552,7 +611,7 @@ bool FGATC610x::do_radio_switches() {
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if ( com2_tuner_fine == 0x0c && last_com2_tuner_fine == 0x01 ) {
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inc = -0.025;
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} else if ( com2_tuner_fine == 0x01 && last_com2_tuner_fine == 0x0c ) {
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inc = -0.025;
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inc = 0.025;
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} else if ( com2_tuner_fine > last_com2_tuner_fine ) {
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inc = 0.025;
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} else {
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@ -564,7 +623,7 @@ bool FGATC610x::do_radio_switches() {
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inc = -1.0;
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} else if ( com2_tuner_course == 0x01
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&& last_com2_tuner_course == 0x0c ) {
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inc = -1.0;
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inc = 1.0;
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} else if ( com2_tuner_course > last_com2_tuner_course ) {
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inc = 1.0;
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} else {
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@ -588,41 +647,54 @@ bool FGATC610x::do_radio_switches() {
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int nav1_tuner_course = radio_switch_data[9] & 0x0f;
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static int last_nav1_tuner_fine = nav1_tuner_fine;
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static int last_nav1_tuner_course = nav1_tuner_course;
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freq = nav1_stby_freq->getFloatValue();
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coarse_freq = (int)freq;
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fine_freq = freq - coarse_freq;
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inc = 0.0;
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if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
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if ( nav1_tuner_fine == 0x0c && last_nav1_tuner_fine == 0x01 ) {
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inc = -0.05;
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fine_freq -= 0.05;
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} else if ( nav1_tuner_fine == 0x01 && last_nav1_tuner_fine == 0x0c ) {
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inc = -0.05;
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fine_freq += 0.05;
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} else if ( nav1_tuner_fine > last_nav1_tuner_fine ) {
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inc = 0.05;
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fine_freq += 0.05;
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} else {
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inc = -0.05;
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fine_freq -= 0.05;
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}
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}
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if ( fine_freq < 0.0 ) {
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fine_freq = 0.95;
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}
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if ( fine_freq > 0.95 ) {
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fine_freq = 0.0;
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}
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if ( nav1_tuner_course != last_nav1_tuner_course ) {
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if ( nav1_tuner_course == 0x0c && last_nav1_tuner_course == 0x01 ) {
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inc = -1.0;
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coarse_freq -= 1.0;
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} else if ( nav1_tuner_course == 0x01
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&& last_nav1_tuner_course == 0x0c ) {
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inc = -1.0;
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coarse_freq += 1.0;
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} else if ( nav1_tuner_course > last_nav1_tuner_course ) {
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inc = 1.0;
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coarse_freq += 1.0;
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} else {
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inc = -1.0;
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coarse_freq -= 1.0;
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}
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}
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if ( coarse_freq < 108.0 ) {
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coarse_freq = 117.0;
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}
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if ( coarse_freq > 117.0 ) {
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coarse_freq = 108.0;
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}
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last_nav1_tuner_fine = nav1_tuner_fine;
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last_nav1_tuner_course = nav1_tuner_course;
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freq = nav1_stby_freq->getFloatValue() + inc;
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if ( freq < 108.0 ) {
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freq = 117.95;
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}
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if ( freq > 117.95 ) {
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freq = 108.0;
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}
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fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", freq );
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fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
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coarse_freq + fine_freq );
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// Nav2 Tuner
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int nav2_tuner_fine = (radio_switch_data[17] >> 4) & 0x0f;
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@ -634,7 +706,7 @@ bool FGATC610x::do_radio_switches() {
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if ( nav2_tuner_fine == 0x0c && last_nav2_tuner_fine == 0x01 ) {
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inc = -0.05;
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} else if ( nav2_tuner_fine == 0x01 && last_nav2_tuner_fine == 0x0c ) {
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inc = -0.05;
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inc = 0.05;
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} else if ( nav2_tuner_fine > last_nav2_tuner_fine ) {
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inc = 0.05;
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} else {
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@ -646,7 +718,7 @@ bool FGATC610x::do_radio_switches() {
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inc = -1.0;
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} else if ( nav2_tuner_course == 0x01
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&& last_nav2_tuner_course == 0x0c ) {
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inc = -1.0;
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inc = 1.0;
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} else if ( nav2_tuner_course > last_nav2_tuner_course ) {
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inc = 1.0;
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} else {
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@ -989,9 +1061,9 @@ bool FGATC610x::do_switches() {
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if ( switch_matrix[board][6][3] == 1 ) {
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fgSetFloat( "/controls/flaps", 1.0 );
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} else if ( switch_matrix[board][5][3] == 1 ) {
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fgSetFloat( "/controls/flaps", 0.66 );
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fgSetFloat( "/controls/flaps", 2.0 / 3.0 );
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} else if ( switch_matrix[board][4][3] == 1 ) {
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fgSetFloat( "/controls/flaps", 0.33 );
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fgSetFloat( "/controls/flaps", 1.0 / 3.0 );
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} else if ( switch_matrix[board][4][3] == 0 ) {
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fgSetFloat( "/controls/flaps", 0.0 );
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}
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@ -1006,6 +1078,7 @@ bool FGATC610x::process() {
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if ( ATC610xLock( lock_fd ) > 0 ) {
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do_analog_in();
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do_lights();
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do_radio_switches();
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do_radio_display();
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do_steppers();
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@ -51,12 +51,14 @@ class FGATC610x : public FGProtocol {
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int lock_fd;
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int analog_in_fd;
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int lamps_fd;
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int radios_fd;
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int stepper_fd;
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int switches_fd;
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char lock_file[256];
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char analog_in_file[256];
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char lamps_file[256];
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char radios_file[256];
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char stepper_file[256];
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char switches_file[256];
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@ -75,10 +77,12 @@ class FGATC610x : public FGProtocol {
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SGPropertyNode *nav1_freq, *nav1_stby_freq;
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SGPropertyNode *nav2_freq, *nav2_stby_freq;
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SGPropertyNode *adf_freq, *adf_stby_freq;
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SGPropertyNode *inner, *middle, *outer;
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int dme_switch;
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bool do_analog_in();
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bool do_lights();
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bool do_radio_switches();
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bool do_radio_display();
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bool do_steppers();
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