QGCXPlaneLink.cc 36 KB
Newer Older
1 2
/****************************************************************************
 *
Gus Grubba's avatar
Gus Grubba committed
3
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
4 5 6 7 8
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
9 10 11 12 13


/**
 * @file QGCXPlaneLink.cc
 *   Implementation of X-Plane interface
Lorenz Meier's avatar
Lorenz Meier committed
14
 *   @author Lorenz Meier <lm@qgroundcontrol.org>
15 16 17 18 19 20 21
 *
 */

#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
22
#include <QNetworkInterface>
23 24
#include <QHostInfo>

25
#include <iostream>
26 27
#include <Eigen/Eigen>

28 29
#include "QGCXPlaneLink.h"
#include "QGC.h"
30
#include "UAS.h"
Lorenz Meier's avatar
Lorenz Meier committed
31
#include "UASInterface.h"
Gus Grubba's avatar
Gus Grubba committed
32
//-- TODO: #include "QGCMessageBox.h"
33

Bart Slinger's avatar
Bart Slinger committed
34
QGCXPlaneLink::QGCXPlaneLink(Vehicle* vehicle, QString remoteHost, QHostAddress localHost, quint16 localPort) :
35
    _vehicle(vehicle),
Lorenz Meier's avatar
Lorenz Meier committed
36 37
    remoteHost(QHostAddress("127.0.0.1")),
    remotePort(49000),
38 39 40
    socket(nullptr),
    process(nullptr),
    terraSync(nullptr),
41
    barometerOffsetkPa(-8.0f),
42
    airframeID(QGCXPlaneLink::AIRFRAME_UNKNOWN),
Lorenz Meier's avatar
Lorenz Meier committed
43
    xPlaneConnected(false),
44 45
    xPlaneVersion(0),
    simUpdateLast(QGC::groundTimeMilliseconds()),
46
    simUpdateFirst(0),
47
    simUpdateLastText(QGC::groundTimeMilliseconds()),
48
    simUpdateLastGroundTruth(QGC::groundTimeMilliseconds()),
Lorenz Meier's avatar
Lorenz Meier committed
49
    simUpdateHz(0),
50
    _sensorHilEnabled(true),
51
    _useHilActuatorControls(true),
52
    _should_exit(false)
53
{
54 55 56 57
    // We're doing it wrong - because the Qt folks got the API wrong:
    // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
    moveToThread(this);

58 59
    setTerminationEnabled(false);

60 61
    this->localHost = localHost;
    this->localPort = localPort/*+mav->getUASID()*/;
62 63
    connectState = false;

64
    this->name = tr("X-Plane Link (localPort:%1)").arg(localPort);
65
    setRemoteHost(remoteHost);
Lorenz Meier's avatar
Lorenz Meier committed
66
    loadSettings();
67 68 69
}

QGCXPlaneLink::~QGCXPlaneLink()
70
{
Lorenz Meier's avatar
Lorenz Meier committed
71
    storeSettings();
Lorenz Meier's avatar
Lorenz Meier committed
72
    // Tell the thread to exit
73
    _should_exit = true;
Lorenz Meier's avatar
Lorenz Meier committed
74

Bart Slinger's avatar
Bart Slinger committed
75
    if (socket) {
76 77
        socket->close();
        socket->deleteLater();
78
        socket = nullptr;
79
    }
80 81
}

Lorenz Meier's avatar
Lorenz Meier committed
82 83 84 85 86
void QGCXPlaneLink::loadSettings()
{
    // Load defaults from settings
    QSettings settings;
    settings.beginGroup("QGC_XPLANE_LINK");
87
    setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort)).toString());
Lorenz Meier's avatar
Lorenz Meier committed
88
    setVersion(settings.value("XPLANE_VERSION", 10).toInt());
Lorenz Meier's avatar
Lorenz Meier committed
89
    selectAirframe(settings.value("AIRFRAME", "default").toString());
90
    _sensorHilEnabled = settings.value("SENSOR_HIL", _sensorHilEnabled).toBool();
91
    _useHilActuatorControls = settings.value("ACTUATOR_HIL", _useHilActuatorControls).toBool();
Lorenz Meier's avatar
Lorenz Meier committed
92 93 94 95 96 97 98 99
    settings.endGroup();
}

void QGCXPlaneLink::storeSettings()
{
    // Store settings
    QSettings settings;
    settings.beginGroup("QGC_XPLANE_LINK");
Lorenz Meier's avatar
Lorenz Meier committed
100
    settings.setValue("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort));
Lorenz Meier's avatar
Lorenz Meier committed
101 102
    settings.setValue("XPLANE_VERSION", xPlaneVersion);
    settings.setValue("AIRFRAME", airframeName);
103
    settings.setValue("SENSOR_HIL", _sensorHilEnabled);
104
    settings.setValue("ACTUATOR_HIL", _useHilActuatorControls);
Lorenz Meier's avatar
Lorenz Meier committed
105 106 107
    settings.endGroup();
}

Bart Slinger's avatar
Bart Slinger committed
108
void QGCXPlaneLink::setVersion(const QString& version)
Lorenz Meier's avatar
Lorenz Meier committed
109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133
{
    unsigned int oldVersion = xPlaneVersion;
    if (version.contains("9"))
    {
        xPlaneVersion = 9;
    }
    else if (version.contains("10"))
    {
        xPlaneVersion = 10;
    }
    else if (version.contains("11"))
    {
        xPlaneVersion = 11;
    }
    else if (version.contains("12"))
    {
        xPlaneVersion = 12;
    }

    if (oldVersion != xPlaneVersion)
    {
        emit versionChanged(QString("X-Plane %1").arg(xPlaneVersion));
    }
}

Lorenz Meier's avatar
Lorenz Meier committed
134 135 136 137 138 139
void QGCXPlaneLink::setVersion(unsigned int version)
{
    bool changed = (xPlaneVersion != version);
    xPlaneVersion = version;
    if (changed) emit versionChanged(QString("X-Plane %1").arg(xPlaneVersion));
}
Lorenz Meier's avatar
Lorenz Meier committed
140

141 142
void QGCXPlaneLink::enableHilActuatorControls(bool enable)
{
Bart Slinger's avatar
Bart Slinger committed
143
    if (enable != _useHilActuatorControls) {
144 145 146 147 148 149
        _useHilActuatorControls = enable;
    }

    /* Only use override for new message and specific airframes */
    MAV_TYPE type = _vehicle->vehicleType();
    float value = 0.0f;
Bart Slinger's avatar
Bart Slinger committed
150
    if (type == MAV_TYPE_VTOL_RESERVED2) {
151 152 153 154 155 156 157
        value = (enable ? 1.0f : 0.0f);
    }

    sendDataRef("sim/operation/override/override_control_surfaces", value);
    emit useHilActuatorControlsChanged(enable);
}

Lorenz Meier's avatar
Lorenz Meier committed
158

159 160 161 162 163 164
/**
 * @brief Runs the thread
 *
 **/
void QGCXPlaneLink::run()
{
Bart Slinger's avatar
Bart Slinger committed
165
    if (!_vehicle) {
166 167 168 169
        emit statusMessage("No MAV present");
        return;
    }

Bart Slinger's avatar
Bart Slinger committed
170
    if (connectState) {
171 172 173
        emit statusMessage("Already connected");
        return;
    }
174 175

    socket = new QUdpSocket(this);
Lorenz Meier's avatar
Lorenz Meier committed
176
    socket->moveToThread(this);
177
    connectState = socket->bind(localHost, localPort, QAbstractSocket::ReuseAddressHint);
Bart Slinger's avatar
Bart Slinger committed
178
    if (!connectState) {
179 180 181

        emit statusMessage("Binding socket failed!");

182
        socket->deleteLater();
183
        socket = nullptr;
184 185
        return;
    }
186

187 188
    emit statusMessage(tr("Waiting for XPlane.."));

189
    QObject::connect(socket, &QUdpSocket::readyRead, this, &QGCXPlaneLink::readBytes);
190

191
    connect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls, Qt::QueuedConnection);
192
    connect(_vehicle, &Vehicle::hilActuatorControlsChanged, this, &QGCXPlaneLink::updateActuatorControls, Qt::QueuedConnection);
193

194 195 196 197
    connect(this, &QGCXPlaneLink::hilGroundTruthChanged, _vehicle->uas(), &UAS::sendHilGroundTruth, Qt::QueuedConnection);
    connect(this, &QGCXPlaneLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState, Qt::QueuedConnection);
    connect(this, &QGCXPlaneLink::sensorHilGpsChanged, _vehicle->uas(), &UAS::sendHilGps, Qt::QueuedConnection);
    connect(this, &QGCXPlaneLink::sensorHilRawImuChanged, _vehicle->uas(), &UAS::sendHilSensors, Qt::QueuedConnection);
198

199
    _vehicle->uas()->startHil();
200 201 202 203 204

#pragma pack(push, 1)
    struct iset_struct
    {
        char b[5];
Patrick José Pereira's avatar
Patrick José Pereira committed
205
        int index; // (0->20 in the list below)
206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231
        char str_ipad_them[16];
        char str_port_them[6];
        char padding[2];
        int use_ip;
    } ip; // to use this option, 0 not to.
#pragma pack(pop)

    ip.b[0] = 'I';
    ip.b[1] = 'S';
    ip.b[2] = 'E';
    ip.b[3] = 'T';
    ip.b[4] = '0';

    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();

    QString localAddrStr;
    QString localPortStr = QString("%1").arg(localPort);

    for (int i = 0; i < hostAddresses.size(); i++)
    {
        // Exclude loopback IPv4 and all IPv6 addresses
        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
        {
            localAddrStr = hostAddresses.at(i).toString();
            break;
        }
Lorenz Meier's avatar
Lorenz Meier committed
232
    }
233 234

    ip.index = 0;
235 236
    strncpy(ip.str_ipad_them, localAddrStr.toLatin1(), qMin((int)sizeof(ip.str_ipad_them), 16));
    strncpy(ip.str_port_them, localPortStr.toLatin1(), qMin((int)sizeof(ip.str_port_them), 6));
237 238
    ip.use_ip = 1;

Bart Slinger's avatar
Bart Slinger committed
239
    writeBytesSafe((const char*)&ip, sizeof(ip));
240

241 242 243
    /* Call function which makes sure individual control override is enabled/disabled */
    enableHilActuatorControls(_useHilActuatorControls);

244 245
    _should_exit = false;

Bart Slinger's avatar
Bart Slinger committed
246
    while(!_should_exit) {
247 248 249
        QCoreApplication::processEvents();
        QGC::SLEEP::msleep(5);
    }
250

251
    disconnect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls);
252

253 254 255 256
    disconnect(this, &QGCXPlaneLink::hilGroundTruthChanged, _vehicle->uas(), &UAS::sendHilGroundTruth);
    disconnect(this, &QGCXPlaneLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState);
    disconnect(this, &QGCXPlaneLink::sensorHilGpsChanged, _vehicle->uas(), &UAS::sendHilGps);
    disconnect(this, &QGCXPlaneLink::sensorHilRawImuChanged, _vehicle->uas(), &UAS::sendHilSensors);
257 258
    connectState = false;

259
    disconnect(socket, &QUdpSocket::readyRead, this, &QGCXPlaneLink::readBytes);
260

261
    socket->close();
262
    socket->deleteLater();
263
    socket = nullptr;
264 265 266

    emit simulationDisconnected();
    emit simulationConnected(false);
267 268
}

269
void QGCXPlaneLink::setPort(int localPort)
270
{
271
    this->localPort = localPort;
272 273 274 275 276 277
    disconnectSimulation();
    connectSimulation();
}

void QGCXPlaneLink::processError(QProcess::ProcessError err)
{
278
    QString msg;
Bart Slinger's avatar
Bart Slinger committed
279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301
    
    switch(err) {
        case QProcess::FailedToStart:
            msg = tr("X-Plane Failed to start. Please check if the path and command is correct");
            break;
            
        case QProcess::Crashed:
            msg = tr("X-Plane crashed. This is an X-Plane-related problem, check for X-Plane upgrade.");
            break;
            
        case QProcess::Timedout:
            msg = tr("X-Plane start timed out. Please check if the path and command is correct");
            break;
            
        case QProcess::ReadError:
        case QProcess::WriteError:
            msg = tr("Could not communicate with X-Plane. Please check if the path and command are correct");
            break;
            
        case QProcess::UnknownError:
        default:
            msg = tr("X-Plane error occurred. Please check if the path and command is correct.");
            break;
302
    }
Bart Slinger's avatar
Bart Slinger committed
303 304
    
    
Gus Grubba's avatar
Gus Grubba committed
305
    //-- TODO: QGCMessageBox::critical(tr("X-Plane HIL"), msg);
306 307
}

Lorenz Meier's avatar
Lorenz Meier committed
308 309
QString QGCXPlaneLink::getRemoteHost()
{
Lorenz Meier's avatar
Lorenz Meier committed
310
    return QString("%1:%2").arg(remoteHost.toString()).arg(remotePort);
Lorenz Meier's avatar
Lorenz Meier committed
311 312
}

313
/**
Lorenz Meier's avatar
Lorenz Meier committed
314
 * @param newHost Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
315
 */
Bart Slinger's avatar
Bart Slinger committed
316
void QGCXPlaneLink::setRemoteHost(const QString& newHost)
317
{
Lorenz Meier's avatar
Lorenz Meier committed
318 319 320
    if (newHost.length() == 0)
        return;

Lorenz Meier's avatar
Lorenz Meier committed
321
    if (newHost.contains(":"))
322
    {
Lorenz Meier's avatar
Lorenz Meier committed
323
        QHostInfo info = QHostInfo::fromName(newHost.split(":").first());
324 325
        if (info.error() == QHostInfo::NoError)
        {
Lorenz Meier's avatar
Lorenz Meier committed
326 327
            // Add newHost
            QList<QHostAddress> newHostAddresses = info.addresses();
328
            QHostAddress address;
Lorenz Meier's avatar
Lorenz Meier committed
329
            for (int i = 0; i < newHostAddresses.size(); i++)
330 331
            {
                // Exclude loopback IPv4 and all IPv6 addresses
Lorenz Meier's avatar
Lorenz Meier committed
332
                if (!newHostAddresses.at(i).toString().contains(":"))
333
                {
Lorenz Meier's avatar
Lorenz Meier committed
334
                    address = newHostAddresses.at(i);
335 336
                }
            }
337 338
            remoteHost = address;
            // Set localPort according to user input
Lorenz Meier's avatar
Lorenz Meier committed
339
            remotePort = newHost.split(":").last().toInt();
340 341 342 343
        }
    }
    else
    {
Lorenz Meier's avatar
Lorenz Meier committed
344
        QHostInfo info = QHostInfo::fromName(newHost);
345 346
        if (info.error() == QHostInfo::NoError)
        {
Lorenz Meier's avatar
Lorenz Meier committed
347
            // Add newHost
348
            remoteHost = info.addresses().first();
Lorenz Meier's avatar
Lorenz Meier committed
349
            if (remotePort == 0) remotePort = 49000;
350 351 352
        }
    }

Lorenz Meier's avatar
Lorenz Meier committed
353 354 355 356 357
    if (isConnected())
    {
        disconnectSimulation();
        connectSimulation();
    }
358 359 360 361

    emit remoteChanged(QString("%1:%2").arg(remoteHost.toString()).arg(remotePort));
}

362
void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
363
{
364
    /* Only use HIL_CONTROL when the checkbox is unchecked */
Bart Slinger's avatar
Bart Slinger committed
365
    if (_useHilActuatorControls) {
366 367 368
        //qDebug() << "received HIL_CONTROL but not using it";
        return;
    }
Bart Slinger's avatar
Bart Slinger committed
369 370
    #pragma pack(push, 1)
    struct payload {
371 372 373 374
        char b[5];
        int index;
        float f[8];
    } p;
Bart Slinger's avatar
Bart Slinger committed
375
    #pragma pack(pop)
376 377 378 379 380 381 382

    p.b[0] = 'D';
    p.b[1] = 'A';
    p.b[2] = 'T';
    p.b[3] = 'A';
    p.b[4] = '\0';

383 384 385 386
    Q_UNUSED(time);
    Q_UNUSED(systemMode);
    Q_UNUSED(navMode);

Lorenz Meier's avatar
Lorenz Meier committed
387
    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR
Bart Slinger's avatar
Bart Slinger committed
388 389
        || _vehicle->vehicleType() == MAV_TYPE_HEXAROTOR
        || _vehicle->vehicleType() == MAV_TYPE_OCTOROTOR)
390 391 392 393
    {
        qDebug() << "MAV_TYPE_QUADROTOR";

        // Individual effort will be provided directly to the actuators on Xplane quadrotor.
394
        p.f[0] = yawRudder;
395
        p.f[1] = rollAilerons;
396 397 398
        p.f[2] = throttle;
        p.f[3] = pitchElevator;

Lorenz Meier's avatar
Lorenz Meier committed
399 400
        // Direct throttle control
        p.index = 25;
Bart Slinger's avatar
Bart Slinger committed
401
        writeBytesSafe((const char*)&p, sizeof(p));
402
    }
Lorenz Meier's avatar
Lorenz Meier committed
403 404
    else
    {
405
        // direct pass-through, normal fixed-wing.
Lorenz Meier's avatar
Lorenz Meier committed
406 407 408
        p.f[0] = -pitchElevator;
        p.f[1] = rollAilerons;
        p.f[2] = yawRudder;
409

410
        // Ail / Elevon / Rudder
Lorenz Meier's avatar
Lorenz Meier committed
411 412 413

        // Send to group 12
        p.index = 12;
Bart Slinger's avatar
Bart Slinger committed
414
        writeBytesSafe((const char*)&p, sizeof(p));
415

Lorenz Meier's avatar
Lorenz Meier committed
416 417
        // Send to group 8, which equals manual controls
        p.index = 8;
Bart Slinger's avatar
Bart Slinger committed
418
        writeBytesSafe((const char*)&p, sizeof(p));
419

Lorenz Meier's avatar
Lorenz Meier committed
420 421
        // Send throttle to all four motors
        p.index = 25;
422 423 424 425 426
        memset(p.f, 0, sizeof(p.f));
        p.f[0] = throttle;
        p.f[1] = throttle;
        p.f[2] = throttle;
        p.f[3] = throttle;
Bart Slinger's avatar
Bart Slinger committed
427
        writeBytesSafe((const char*)&p, sizeof(p));
428
    }
429 430
}

431 432
void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode)
{
Bart Slinger's avatar
Bart Slinger committed
433
    if (!_useHilActuatorControls) {
434 435 436 437 438 439 440 441 442 443 444 445
        //qDebug() << "received HIL_ACTUATOR_CONTROLS but not using it";
        return;
    }

    Q_UNUSED(time);
    Q_UNUSED(flags);
    Q_UNUSED(mode);
    Q_UNUSED(ctl_12);
    Q_UNUSED(ctl_13);
    Q_UNUSED(ctl_14);
    Q_UNUSED(ctl_15);

Bart Slinger's avatar
Bart Slinger committed
446 447
    #pragma pack(push, 1)
    struct payload {
448 449 450 451
        char b[5];
        int index;
        float f[8];
    } p;
Bart Slinger's avatar
Bart Slinger committed
452
    #pragma pack(pop)
453 454 455 456 457 458 459 460 461 462

    p.b[0] = 'D';
    p.b[1] = 'A';
    p.b[2] = 'T';
    p.b[3] = 'A';
    p.b[4] = '\0';

    /* Initialize with zeroes */
    memset(p.f, 0, sizeof(p.f));

Bart Slinger's avatar
Bart Slinger committed
463 464 465 466
    switch (_vehicle->vehicleType()) {
        case MAV_TYPE_QUADROTOR:
        case MAV_TYPE_HEXAROTOR:
        case MAV_TYPE_OCTOROTOR:
467 468 469 470 471 472 473 474 475 476 477 478
        {
            p.f[0] = ctl_0;         ///< X-Plane Engine 1
            p.f[1] = ctl_1;         ///< X-Plane Engine 2
            p.f[2] = ctl_2;         ///< X-Plane Engine 3
            p.f[3] = ctl_3;         ///< X-Plane Engine 4
            p.f[4] = ctl_4;         ///< X-Plane Engine 5
            p.f[5] = ctl_5;         ///< X-Plane Engine 6
            p.f[6] = ctl_6;         ///< X-Plane Engine 7
            p.f[7] = ctl_7;         ///< X-Plane Engine 8

            /* Direct throttle control */
            p.index = 25;
Bart Slinger's avatar
Bart Slinger committed
479
            writeBytesSafe((const char*)&p, sizeof(p));
480 481
            break;
        }
Bart Slinger's avatar
Bart Slinger committed
482
        case MAV_TYPE_VTOL_RESERVED2:
483 484 485 486 487 488 489 490 491 492 493 494 495 496 497
        {
            /**
             * Tailsitter with four control flaps and eight motors.
             */

            /* Throttle channels */
            p.f[0] = ctl_0;
            p.f[1] = ctl_1;
            p.f[2] = ctl_2;
            p.f[3] = ctl_3;
            p.f[4] = ctl_4;
            p.f[5] = ctl_5;
            p.f[6] = ctl_6;
            p.f[7] = ctl_7;
            p.index = 25;
Bart Slinger's avatar
Bart Slinger committed
498
            writeBytesSafe((const char*)&p, sizeof(p));
499 500 501 502 503 504 505

            /* Control individual actuators */
            float max_surface_deflection = 30.0f; // Degrees
            sendDataRef("sim/flightmodel/controls/wing1l_ail1def", ctl_8 * max_surface_deflection);
            sendDataRef("sim/flightmodel/controls/wing1r_ail1def", ctl_9 * max_surface_deflection);
            sendDataRef("sim/flightmodel/controls/wing2l_ail1def", ctl_10 * max_surface_deflection);
            sendDataRef("sim/flightmodel/controls/wing2r_ail1def", ctl_11 * max_surface_deflection);
506 507 508 509
            sendDataRef("sim/flightmodel/controls/wing1l_ail2def", ctl_12 * max_surface_deflection);
            sendDataRef("sim/flightmodel/controls/wing1r_ail2def", ctl_13 * max_surface_deflection);
            sendDataRef("sim/flightmodel/controls/wing2l_ail2def", ctl_14 * max_surface_deflection);
            sendDataRef("sim/flightmodel/controls/wing2r_ail2def", ctl_15 * max_surface_deflection);
510 511 512

            break;
        }
Bart Slinger's avatar
Bart Slinger committed
513
        default:
514 515 516 517 518 519 520 521
        {
            /* direct pass-through, normal fixed-wing. */
            p.f[0] = -ctl_1;        ///< X-Plane Elevator
            p.f[1] = ctl_0;         ///< X-Plane Aileron
            p.f[2] = ctl_2;         ///< X-Plane Rudder

            /* Send to group 8, which equals manual controls */
            p.index = 8;
Bart Slinger's avatar
Bart Slinger committed
522
            writeBytesSafe((const char*)&p, sizeof(p));
523 524 525 526 527 528 529 530 531 532 533

            /* Send throttle to all eight motors */
            p.index = 25;
            p.f[0] = ctl_3;
            p.f[1] = ctl_3;
            p.f[2] = ctl_3;
            p.f[3] = ctl_3;
            p.f[4] = ctl_3;
            p.f[5] = ctl_3;
            p.f[6] = ctl_3;
            p.f[7] = ctl_3;
Bart Slinger's avatar
Bart Slinger committed
534
            writeBytesSafe((const char*)&p, sizeof(p));
535 536 537 538

            /* Send flap signals, assuming that they are mapped to channel 5 (ctl_4) */
            sendDataRef("sim/flightmodel/controls/flaprqst", ctl_4);
            sendDataRef("sim/flightmodel/controls/flap2rqst", ctl_4);
539 540 541 542 543 544 545
            break;
        }

    }

}

Bart Slinger's avatar
Bart Slinger committed
546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572
Eigen::Matrix3f euler_to_wRo(double yaw, double pitch, double roll) {
  double c__ = cos(yaw);
  double _c_ = cos(pitch);
  double __c = cos(roll);
  double s__ = sin(yaw);
  double _s_ = sin(pitch);
  double __s = sin(roll);
  double cc_ = c__ * _c_;
  double cs_ = c__ * _s_;
  double sc_ = s__ * _c_;
  double ss_ = s__ * _s_;
  double c_c = c__ * __c;
  double c_s = c__ * __s;
  double s_c = s__ * __c;
  double s_s = s__ * __s;
  double _cc = _c_ * __c;
  double _cs = _c_ * __s;
  double csc = cs_ * __c;
  double css = cs_ * __s;
  double ssc = ss_ * __c;
  double sss = ss_ * __s;
  Eigen::Matrix3f wRo;
  wRo <<
    cc_  , css-s_c,  csc+s_s,
    sc_  , sss+c_c,  ssc-c_s,
    -_s_  ,     _cs,      _cc;
  return wRo;
573 574
}

575
void QGCXPlaneLink::_writeBytes(const QByteArray data)
576
{
577
    if (data.isEmpty()) return;
578 579 580

    // If socket exists and is connected, transmit the data
    if (socket && connectState)
581
    {
582
        socket->writeDatagram(data, remoteHost, remotePort);
583 584 585 586
    }
}

/**
587
 * @brief Read all pending packets from the interface.
588 589 590
 **/
void QGCXPlaneLink::readBytes()
{
Lorenz Meier's avatar
Lorenz Meier committed
591 592
    // Only emit updates on attitude message
    bool emitUpdate = false;
Lorenz Meier's avatar
Lorenz Meier committed
593
    quint16 fields_changed = 0;
Lorenz Meier's avatar
Lorenz Meier committed
594

595
    const qint64 maxLength = 65536;
596 597 598 599 600
    char data[maxLength];
    QHostAddress sender;
    quint16 senderPort;

    unsigned int s = socket->pendingDatagramSize();
601
    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size: " << s << std::endl;
602
    socket->readDatagram(data, maxLength, &sender, &senderPort);
Bart Slinger's avatar
Bart Slinger committed
603 604 605
    if (s > maxLength) {
    	std::string headStr = std::string(data, data+5);
    	std::cerr << __FILE__ << __LINE__ << " UDP datagram header: " << headStr << std::endl;
606
    }
607

608 609
    // Calculate the number of data segments a 36 bytes
    // XPlane always has 5 bytes header: 'DATA@'
Bart Slinger's avatar
Bart Slinger committed
610
    unsigned nsegs = (s-5)/36;
611

612
    //qDebug() << "XPLANE:" << "LEN:" << s << "segs:" << nsegs;
613

Bart Slinger's avatar
Bart Slinger committed
614 615
    #pragma pack(push, 1)
    struct payload {
616 617 618
        int index;
        float f[8];
    } p;
Bart Slinger's avatar
Bart Slinger committed
619
    #pragma pack(pop)
620

621 622
    bool oldConnectionState = xPlaneConnected;

623 624 625 626 627
    if (data[0] == 'D' &&
            data[1] == 'A' &&
            data[2] == 'T' &&
            data[3] == 'A')
    {
628
        xPlaneConnected = true;
629

Bart Slinger's avatar
Bart Slinger committed
630
        if (oldConnectionState != xPlaneConnected) {
631 632 633
            simUpdateFirst = QGC::groundTimeMilliseconds();
        }

634 635 636
        for (unsigned i = 0; i < nsegs; i++)
        {
            // Get index
Bart Slinger's avatar
Bart Slinger committed
637 638
            unsigned ioff = (5+i*36);;
            memcpy(&(p), data+ioff, sizeof(p));
639 640 641

            if (p.index == 3)
            {
Don Gagne's avatar
Don Gagne committed
642 643 644 645
                float knotsToMetersPerSecond = 0.514444f;
                ind_airspeed = p.f[5] * knotsToMetersPerSecond;
                true_airspeed = p.f[6] * knotsToMetersPerSecond;
                groundspeed = p.f[7] * knotsToMetersPerSecond;
646

647 648
                //qDebug() << "SPEEDS:" << "airspeed" << airspeed << "m/s, groundspeed" << groundspeed << "m/s";
            }
649 650
            if (p.index == 4)
            {
Bart Slinger's avatar
Bart Slinger committed
651 652 653 654 655 656 657
				// WORKAROUND: IF ground speed <<1m/s and altitude-above-ground <1m, do NOT use the X-Plane data, because X-Plane (tested 
				// with v10.3 and earlier) delivers yacc=0 and zacc=0 when the ground speed is very low, which gives e.g. wrong readings 
				// before launch when waiting on the runway. This might pose a problem for initial state estimation/calibration. 
				// Instead, we calculate our own accelerations.
				if (fabsf(groundspeed)<0.1f && alt_agl<1.0) 
				{
					// TODO: Add centrip. acceleration to the current static acceleration implementation.
658
                    Eigen::Vector3f g(0, 0, -9.80665f);
Bart Slinger's avatar
Bart Slinger committed
659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679
					Eigen::Matrix3f R = euler_to_wRo(yaw, pitch, roll);
					Eigen::Vector3f gr = R.transpose().eval() * g;

					xacc = gr[0];
					yacc = gr[1];
					zacc = gr[2];

					//qDebug() << "Calculated values" << gr[0] << gr[1] << gr[2];
				}
				else
				{
					// Accelerometer readings, directly from X-Plane and including centripetal forces. 
					const float one_g = 9.80665f;
					xacc = p.f[5] * one_g;
					yacc = p.f[6] * one_g;
					zacc = -p.f[4] * one_g;

					//qDebug() << "X-Plane values" << xacc << yacc << zacc;
				}

				fields_changed |= (1 << 0) | (1 << 1) | (1 << 2);
680
                emitUpdate = true;
681
            }
682
            // atmospheric pressure aircraft for XPlane 9 and 10
683
            else if (p.index == 6)
Lorenz Meier's avatar
Lorenz Meier committed
684
            {
685 686
                // inHg to hPa (hecto Pascal / millibar)
                abs_pressure = p.f[0] * 33.863886666718317f;
Lorenz Meier's avatar
Lorenz Meier committed
687
                temperature = p.f[1];
688
                fields_changed |= (1 << 9) | (1 << 12);
Lorenz Meier's avatar
Lorenz Meier committed
689
            }
690 691 692 693 694 695 696 697 698 699 700
            // Forward controls from X-Plane to MAV, not very useful
            // better: Connect Joystick to QGroundControl
//            else if (p.index == 8)
//            {
//                //qDebug() << "MAN:" << p.f[0] << p.f[3] << p.f[7];
//                man_roll = p.f[0];
//                man_pitch = p.f[1];
//                man_yaw = p.f[2];
//                UAS* uas = dynamic_cast<UAS*>(mav);
//                if (uas) uas->setManualControlCommands(man_roll, man_pitch, man_yaw, 0.6);
//            }
701
            else if ((xPlaneVersion == 10 && p.index == 16) || (xPlaneVersion == 9 && p.index == 17))
702
            {
703 704 705 706
                // Cross checked with XPlane flight
                pitchspeed = p.f[0];
                rollspeed = p.f[1];
                yawspeed = p.f[2];
707
                fields_changed |= (1 << 3) | (1 << 4) | (1 << 5);
708 709

                emitUpdate = true;
710
            }
Lorenz Meier's avatar
Lorenz Meier committed
711
            else if ((xPlaneVersion == 10 && p.index == 17) || (xPlaneVersion == 9 && p.index == 18))
712
            {
713
                //qDebug() << "HDNG" << "pitch" << p.f[0] << "roll" << p.f[1] << "hding true" << p.f[2] << "hding mag" << p.f[3];
714 715
                pitch = p.f[0] / 180.0f * M_PI;
                roll = p.f[1] / 180.0f * M_PI;
716
                yaw = p.f[2] / 180.0f * M_PI;
717

718
                // X-Plane expresses yaw as 0..2 PI
Bart Slinger's avatar
Bart Slinger committed
719
                if (yaw > M_PI) {
720
                    yaw -= 2.0f * static_cast<float>(M_PI);
721
                }
Bart Slinger's avatar
Bart Slinger committed
722
                if (yaw < -M_PI) {
723
                    yaw += 2.0f * static_cast<float>(M_PI);
724
                }
Lorenz Meier's avatar
Lorenz Meier committed
725

726
                float yawmag = p.f[3] / 180.0f * M_PI;
Lorenz Meier's avatar
Lorenz Meier committed
727

Bart Slinger's avatar
Bart Slinger committed
728
                if (yawmag > M_PI) {
729
                    yawmag -= 2.0f * static_cast<float>(M_PI);
Lorenz Meier's avatar
Lorenz Meier committed
730
                }
Bart Slinger's avatar
Bart Slinger committed
731
                if (yawmag < -M_PI) {
732
                    yawmag += 2.0f * static_cast<float>(M_PI);
Lorenz Meier's avatar
Lorenz Meier committed
733 734
                }

735 736 737 738 739 740 741
                // Normal rotation matrix, but since we rotate the
                // vector [0.25 0 0.45]', we end up with these relevant
                // matrix parts.

                xmag = cos(-yawmag) * 0.25f;
                ymag = sin(-yawmag) * 0.25f;
                zmag = 0.45f;
742
                fields_changed |= (1 << 6) | (1 << 7) | (1 << 8);
Lorenz Meier's avatar
Lorenz Meier committed
743

744 745 746 747
                double cosPhi = cos(roll);
                double sinPhi = sin(roll);
                double cosThe = cos(pitch);
                double sinThe = sin(pitch);
Lorenz Meier's avatar
Lorenz Meier committed
748 749
                double cosPsi = cos(0.0);
                double sinPsi = sin(0.0);
750 751 752 753 754 755 756 757 758 759 760 761 762 763 764

                float dcm[3][3];

                dcm[0][0] = cosThe * cosPsi;
                dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
                dcm[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;

                dcm[1][0] = cosThe * sinPsi;
                dcm[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
                dcm[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;

                dcm[2][0] = -sinThe;
                dcm[2][1] = sinPhi * cosThe;
                dcm[2][2] = cosPhi * cosThe;

Bart Slinger's avatar
Bart Slinger committed
765
                Eigen::Matrix3f m = Eigen::Map<Eigen::Matrix3f>((float*)dcm).eval();
766 767 768 769 770

                Eigen::Vector3f mag(xmag, ymag, zmag);

                Eigen::Vector3f magbody = m * mag;

771 772
//                qDebug() << "yaw mag:" << p.f[2] << "x" << xmag << "y" << ymag;
//                qDebug() << "yaw mag in body:" << magbody(0) << magbody(1) << magbody(2);
773 774 775 776 777 778 779 780

                xmag = magbody(0);
                ymag = magbody(1);
                zmag = magbody(2);

                // Rotate the measurement vector into the body frame using roll and pitch


Lorenz Meier's avatar
Lorenz Meier committed
781
                emitUpdate = true;
782
            }
783

784 785 786 787
//            else if (p.index == 19)
//            {
//                qDebug() << "ATT:" << p.f[0] << p.f[1] << p.f[2];
//            }
Bart Slinger's avatar
Bart Slinger committed
788 789 790 791 792 793 794
			else if (p.index == 20)
			{
				//qDebug() << "LAT/LON/ALT:" << p.f[0] << p.f[1] << p.f[2];
				lat = p.f[0];
				lon = p.f[1];
				alt = p.f[2] * 0.3048f; // convert feet (MSL) to meters
				alt_agl = p.f[3] * 0.3048f; //convert feet (AGL) to meters
795
            }
796
            else if (p.index == 21)
Lorenz Meier's avatar
Lorenz Meier committed
797
            {
798 799
                vy = p.f[3];
                vx = -p.f[5];
800 801 802
                // moving 'up' in XPlane is positive, but its negative in NED
                // for us.
                vz = -p.f[4];
Lorenz Meier's avatar
Lorenz Meier committed
803
            }
804 805
            else if (p.index == 12)
            {
806
                //qDebug() << "AIL/ELEV/RUD" << p.f[0] << p.f[1] << p.f[2];
807 808 809
            }
            else if (p.index == 25)
            {
810
                //qDebug() << "THROTTLE" << p.f[0] << p.f[1] << p.f[2] << p.f[3];
811 812 813
            }
            else if (p.index == 0)
            {
814
                //qDebug() << "STATS" << "fgraphics/s" << p.f[0] << "fsim/s" << p.f[2] << "t frame" << p.f[3] << "cpu load" << p.f[4] << "grnd ratio" << p.f[5] << "filt ratio" << p.f[6];
815 816 817
            }
            else if (p.index == 11)
            {
818
                //qDebug() << "CONTROLS" << "ail" << p.f[0] << "elev" << p.f[1] << "rudder" << p.f[2] << "nwheel" << p.f[3];
819 820 821
            }
            else
            {
822
                //qDebug() << "UNKNOWN #" << p.index << p.f[0] << p.f[1] << p.f[2] << p.f[3];
823 824
            }
        }
825 826 827 828 829 830 831 832 833
    }
    else if (data[0] == 'S' &&
             data[1] == 'N' &&
             data[2] == 'A' &&
             data[3] == 'P')
    {

    }
    else if (data[0] == 'S' &&
Bart Slinger's avatar
Bart Slinger committed
834 835 836
               data[1] == 'T' &&
               data[2] == 'A' &&
               data[3] == 'T')
837 838
    {

839 840 841 842 843
    }
    else
    {
        qDebug() << "UNKNOWN PACKET:" << data;
    }
844

845
    // Wait for 0.5s before actually using the data, so that all fields are filled
Bart Slinger's avatar
Bart Slinger committed
846
    if (QGC::groundTimeMilliseconds() - simUpdateFirst < 500) {
847 848 849
        return;
    }

850
    // Send updated state
851
    if (emitUpdate && (QGC::groundTimeMilliseconds() - simUpdateLast) > 2)
Lorenz Meier's avatar
Lorenz Meier committed
852
    {
853
        simUpdateHz = simUpdateHz * 0.9f + 0.1f * (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
Bart Slinger's avatar
Bart Slinger committed
854
        if (QGC::groundTimeMilliseconds() - simUpdateLastText > 2000) {
855 856 857 858 859 860 861
            emit statusMessage(tr("Receiving from XPlane at %1 Hz").arg(static_cast<int>(simUpdateHz)));
            // Reset lowpass with current value
            simUpdateHz = (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
            // Set state
            simUpdateLastText = QGC::groundTimeMilliseconds();
        }

862 863
        simUpdateLast = QGC::groundTimeMilliseconds();

864
        if (_sensorHilEnabled)
Lorenz Meier's avatar
Lorenz Meier committed
865
        {
866 867 868 869 870 871 872 873 874 875 876
            diff_pressure = (ind_airspeed * ind_airspeed * 1.225f) / 2.0f;

            /* tropospheric properties (0-11km) for standard atmosphere */
            const double T1 = 15.0 + 273.15;	/* temperature at base height in Kelvin */
            const double a  = -6.5 / 1000;	/* temperature gradient in degrees per metre */
            const double g  = 9.80665;	/* gravity constant in m/s/s */
            const double R  = 287.05;	/* ideal gas constant in J/kg/K */

            /* current pressure at MSL in kPa */
            double p1 = 1013.25 / 10.0;

877 878
            /* measured pressure in hPa, plus offset to simulate weather effects / offsets */
            double p = abs_pressure / 10.0 + barometerOffsetkPa;
879 880 881 882 883 884 885 886 887 888 889 890

            /*
             * Solve:
             *
             *     /        -(aR / g)     \
             *    | (p / p1)          . T1 | - T1
             *     \                      /
             * h = -------------------------------  + h1
             *                   a
             */
            pressure_alt = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;

891 892
            // set pressure alt to changed
            fields_changed |= (1 << 11);
Lorenz Meier's avatar
Lorenz Meier committed
893 894

            emit sensorHilRawImuChanged(QGC::groundTimeUsecs(), xacc, yacc, zacc, rollspeed, pitchspeed, yawspeed,
895
                                        xmag, ymag, zmag, abs_pressure, diff_pressure / 100.0, pressure_alt, temperature, fields_changed);
896

897 898
            // XXX make these GUI-configurable and add randomness
            int gps_fix_type = 3;
899 900
            float eph = 0.3f;
            float epv = 0.6f;
Bart Slinger's avatar
Bart Slinger committed
901
            float vel = sqrt(vx*vx + vy*vy + vz*vz);
902 903 904 905
            float cog = atan2(vy, vx);
            int satellites = 8;

            emit sensorHilGpsChanged(QGC::groundTimeUsecs(), lat, lon, alt, gps_fix_type, eph, epv, vel, vx, vy, vz, cog, satellites);
Bart Slinger's avatar
Bart Slinger committed
906
        } else {
907
            emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
908 909 910 911 912
                                 pitchspeed, yawspeed, lat, lon, alt,
                                 vx, vy, vz, ind_airspeed, true_airspeed, xacc, yacc, zacc);
        }

        // Limit ground truth to 25 Hz
Bart Slinger's avatar
Bart Slinger committed
913
        if (QGC::groundTimeMilliseconds() - simUpdateLastGroundTruth > 40) {
914 915 916
            emit hilGroundTruthChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
                                       pitchspeed, yawspeed, lat, lon, alt,
                                       vx, vy, vz, ind_airspeed, true_airspeed, xacc, yacc, zacc);
917

918 919
            simUpdateLastGroundTruth = QGC::groundTimeMilliseconds();
        }
Lorenz Meier's avatar
Lorenz Meier committed
920
    }
921

922 923
    if (!oldConnectionState && xPlaneConnected)
    {
924
        emit statusMessage(tr("Receiving from XPlane."));
925 926
    }

927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955
    //    // Echo data for debugging purposes
    //    std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
    //    int i;
    //    for (i=0; i<s; i++)
    //    {
    //        unsigned int v=data[i];
    //        fprintf(stderr,"%02x ", v);
    //    }
    //    std::cerr << std::endl;
}


/**
 * @brief Get the number of bytes to read.
 *
 * @return The number of bytes to read
 **/
qint64 QGCXPlaneLink::bytesAvailable()
{
    return socket->pendingDatagramSize();
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
bool QGCXPlaneLink::disconnectSimulation()
{
956
    if (connectState)
957
    {
958
        _should_exit = true;
Bart Slinger's avatar
Bart Slinger committed
959
    } else {
960 961
        emit simulationDisconnected();
        emit simulationConnected(false);
962
    }
963 964 965 966

    return !connectState;
}

Bart Slinger's avatar
Bart Slinger committed
967
void QGCXPlaneLink::selectAirframe(const QString& plane)
968
{
969
    airframeName = plane;
970

971 972
    if (plane.contains("QRO"))
    {
Lorenz Meier's avatar
Lorenz Meier committed
973
        if (plane.contains("MK") && airframeID != AIRFRAME_QUAD_X_MK_10INCH_I2C)
974 975
        {
            airframeID = AIRFRAME_QUAD_X_MK_10INCH_I2C;
Lorenz Meier's avatar
Lorenz Meier committed
976
            emit airframeChanged("QRO_X / MK");
977
        }
Lorenz Meier's avatar
Lorenz Meier committed
978
        else if (plane.contains("ARDRONE") && airframeID != AIRFRAME_QUAD_X_ARDRONE)
979 980
        {
            airframeID = AIRFRAME_QUAD_X_ARDRONE;
Lorenz Meier's avatar
Lorenz Meier committed
981
            emit airframeChanged("QRO_X / ARDRONE");
982 983 984
        }
        else
        {
Lorenz Meier's avatar
Lorenz Meier committed
985
            bool changed = (airframeID != AIRFRAME_QUAD_DJI_F450_PWM);
986
            airframeID = AIRFRAME_QUAD_DJI_F450_PWM;
Lorenz Meier's avatar
Lorenz Meier committed
987
            if (changed) emit airframeChanged("QRO_X / DJI-F450 / PWM");
988 989
        }
    }
Lorenz Meier's avatar
Lorenz Meier committed
990 991
    else
    {
Lorenz Meier's avatar
Lorenz Meier committed
992
        bool changed = (airframeID != AIRFRAME_UNKNOWN);
Lorenz Meier's avatar
Lorenz Meier committed
993
        airframeID = AIRFRAME_UNKNOWN;
Lorenz Meier's avatar
Lorenz Meier committed
994
        if (changed) emit airframeChanged("X Plane default");
Lorenz Meier's avatar
Lorenz Meier committed
995
    }
996 997 998 999
}

void QGCXPlaneLink::setPositionAttitude(double lat, double lon, double alt, double roll, double pitch, double yaw)
{
Bart Slinger's avatar
Bart Slinger committed
1000
    #pragma pack(push, 1)
1001 1002
    struct VEH1_struct
    {
1003
        char header[5];
1004 1005 1006 1007 1008
        quint32 p;
        double lat_lon_ele[3];
        float psi_the_phi[3];
        float gear_flap_vect[3];
    } pos;
Bart Slinger's avatar
Bart Slinger committed
1009
    #pragma pack(pop)
1010

1011 1012 1013 1014 1015
    pos.header[0] = 'V';
    pos.header[1] = 'E';
    pos.header[2] = 'H';
    pos.header[3] = '1';
    pos.header[4] = '0';
1016 1017 1018 1019
    pos.p = 0;
    pos.lat_lon_ele[0] = lat;
    pos.lat_lon_ele[1] = lon;
    pos.lat_lon_ele[2] = alt;
1020 1021 1022 1023 1024 1025 1026
    pos.psi_the_phi[0] = roll;
    pos.psi_the_phi[1] = pitch;
    pos.psi_the_phi[2] = yaw;
    pos.gear_flap_vect[0] = 0.0f;
    pos.gear_flap_vect[1] = 0.0f;
    pos.gear_flap_vect[2] = 0.0f;

Bart Slinger's avatar
Bart Slinger committed
1027
    writeBytesSafe((const char*)&pos, sizeof(pos));
1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044

//    pos.header[0] = 'V';
//    pos.header[1] = 'E';
//    pos.header[2] = 'H';
//    pos.header[3] = '1';
//    pos.header[4] = '0';
//    pos.p = 0;
//    pos.lat_lon_ele[0] = -999;
//    pos.lat_lon_ele[1] = -999;
//    pos.lat_lon_ele[2] = -999;
//    pos.psi_the_phi[0] = -999;
//    pos.psi_the_phi[1] = -999;
//    pos.psi_the_phi[2] = -999;
//    pos.gear_flap_vect[0] = -999;
//    pos.gear_flap_vect[1] = -999;
//    pos.gear_flap_vect[2] = -999;

1045
//    writeBytesSafe((const char*)&pos, sizeof(pos));
1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056
}

/**
 * Sets a random position with an offset of max 1/1000 degree
 * and max 100 m altitude
 */
void QGCXPlaneLink::setRandomPosition()
{
    // Initialize generator
    srand(0);

Bart Slinger's avatar
Bart Slinger committed
1057 1058
    double offLat = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
    double offLon = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
1059 1060
    double offAlt = rand() / static_cast<double>(RAND_MAX) * 200.0 + 100.0;

Don Gagne's avatar
Don Gagne committed
1061
    if (_vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt < 0)
1062 1063 1064 1065
    {
        offAlt *= -1.0;
    }

1066 1067
    setPositionAttitude(_vehicle->latitude() + offLat,
                        _vehicle->longitude() + offLon,
Don Gagne's avatar
Don Gagne committed
1068 1069 1070
                        _vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt,
                        _vehicle->roll()->rawValue().toDouble(),
                        _vehicle->pitch()->rawValue().toDouble(),
DonLakeFlyer's avatar
DonLakeFlyer committed
1071
                        _vehicle->heading()->rawValue().toDouble());
1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082
}

void QGCXPlaneLink::setRandomAttitude()
{
    // Initialize generator
    srand(0);

    double roll = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;
    double pitch = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;
    double yaw = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;

1083 1084
    setPositionAttitude(_vehicle->latitude(),
                        _vehicle->longitude(),
Don Gagne's avatar
Don Gagne committed
1085
                        _vehicle->altitudeAMSL()->rawValue().toDouble(),
1086 1087 1088 1089 1090
                        roll,
                        pitch,
                        yaw);
}

1091 1092 1093 1094 1095 1096 1097
/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool QGCXPlaneLink::connectSimulation()
{
Bart Slinger's avatar
Bart Slinger committed
1098
    if (connectState) {
1099
        qDebug() << "Simulation already active";
Bart Slinger's avatar
Bart Slinger committed
1100
    } else {
1101 1102 1103 1104 1105 1106
        qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
        // XXX Hack
        storeSettings();

        start(HighPriority);
    }
1107

1108
    return true;
1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130
}

/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
bool QGCXPlaneLink::isConnected()
{
    return connectState;
}

QString QGCXPlaneLink::getName()
{
    return name;
}

void QGCXPlaneLink::setName(QString name)
{
    this->name = name;
    //    emit nameChanged(this->name);
}
1131 1132 1133

void QGCXPlaneLink::sendDataRef(QString ref, float value)
{
Bart Slinger's avatar
Bart Slinger committed
1134 1135
    #pragma pack(push, 1)
    struct payload {
1136 1137 1138 1139
        char b[5];
        float value;
        char name[500];
    } dref;
Bart Slinger's avatar
Bart Slinger committed
1140
    #pragma pack(pop)
1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157

    dref.b[0] = 'D';
    dref.b[1] = 'R';
    dref.b[2] = 'E';
    dref.b[3] = 'F';
    dref.b[4] = '0';

    /* Set value */
    dref.value = value;

    /* Fill name with zeroes */
    memset(dref.name, 0, sizeof(dref.name));

    /* Set dref name */

    /* Send command */
    QByteArray ba = ref.toUtf8();
Bart Slinger's avatar
Bart Slinger committed
1158
    if (ba.length() > 500) {
1159 1160 1161
        return;
    }

Bart Slinger's avatar
Bart Slinger committed
1162
    for (int i = 0; i < ba.length(); i++) {
1163 1164
        dref.name[i] = ba.at(i);
    }
Bart Slinger's avatar
Bart Slinger committed
1165
    writeBytesSafe((const char*)&dref, sizeof(dref));
1166
}