QGCXPlaneLink.cc 30.6 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file QGCXPlaneLink.cc
 *   Implementation of X-Plane interface
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
35
#include <QNetworkInterface>
36 37
#include <QHostInfo>

38
#include <iostream>
39 40
#include <Eigen/Eigen>

41 42
#include "QGCXPlaneLink.h"
#include "QGC.h"
43
#include "UAS.h"
Lorenz Meier's avatar
Lorenz Meier committed
44
#include "UASInterface.h"
45
#include "QGCMessageBox.h"
46
#include "HomePositionManager.h"
47

48 49
QGCXPlaneLink::QGCXPlaneLink(Vehicle* vehicle, QString remoteHost, QHostAddress localHost, quint16 localPort) :
    _vehicle(vehicle),
Lorenz Meier's avatar
Lorenz Meier committed
50 51
    remoteHost(QHostAddress("127.0.0.1")),
    remotePort(49000),
52
    socket(NULL),
53
    process(NULL),
54
    terraSync(NULL),
55
    barometerOffsetkPa(-8.0f),
56
    airframeID(QGCXPlaneLink::AIRFRAME_UNKNOWN),
Lorenz Meier's avatar
Lorenz Meier committed
57
    xPlaneConnected(false),
58 59
    xPlaneVersion(0),
    simUpdateLast(QGC::groundTimeMilliseconds()),
60
    simUpdateFirst(0),
61
    simUpdateLastText(QGC::groundTimeMilliseconds()),
62
    simUpdateLastGroundTruth(QGC::groundTimeMilliseconds()),
Lorenz Meier's avatar
Lorenz Meier committed
63
    simUpdateHz(0),
64 65
    _sensorHilEnabled(true),
    _should_exit(false)
66
{
67 68 69 70
    // 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);

71 72
    setTerminationEnabled(false);

73 74
    this->localHost = localHost;
    this->localPort = localPort/*+mav->getUASID()*/;
75 76
    connectState = false;

77
    this->name = tr("X-Plane Link (localPort:%1)").arg(localPort);
78
    setRemoteHost(remoteHost);
Lorenz Meier's avatar
Lorenz Meier committed
79
    loadSettings();
80 81 82
}

QGCXPlaneLink::~QGCXPlaneLink()
83
{
Lorenz Meier's avatar
Lorenz Meier committed
84
    storeSettings();
Lorenz Meier's avatar
Lorenz Meier committed
85
    // Tell the thread to exit
86
    _should_exit = true;
Lorenz Meier's avatar
Lorenz Meier committed
87

88 89 90 91 92
    if (socket) {
        socket->close();
        socket->deleteLater();
        socket = NULL;
    }
93 94
}

Lorenz Meier's avatar
Lorenz Meier committed
95 96 97 98 99
void QGCXPlaneLink::loadSettings()
{
    // Load defaults from settings
    QSettings settings;
    settings.beginGroup("QGC_XPLANE_LINK");
100
    setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort)).toString());
Lorenz Meier's avatar
Lorenz Meier committed
101
    setVersion(settings.value("XPLANE_VERSION", 10).toInt());
Lorenz Meier's avatar
Lorenz Meier committed
102
    selectAirframe(settings.value("AIRFRAME", "default").toString());
103
    _sensorHilEnabled = settings.value("SENSOR_HIL", _sensorHilEnabled).toBool();
Lorenz Meier's avatar
Lorenz Meier committed
104 105 106 107 108 109 110 111
    settings.endGroup();
}

void QGCXPlaneLink::storeSettings()
{
    // Store settings
    QSettings settings;
    settings.beginGroup("QGC_XPLANE_LINK");
Lorenz Meier's avatar
Lorenz Meier committed
112
    settings.setValue("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort));
Lorenz Meier's avatar
Lorenz Meier committed
113 114
    settings.setValue("XPLANE_VERSION", xPlaneVersion);
    settings.setValue("AIRFRAME", airframeName);
115
    settings.setValue("SENSOR_HIL", _sensorHilEnabled);
Lorenz Meier's avatar
Lorenz Meier committed
116 117 118
    settings.endGroup();
}

Lorenz Meier's avatar
Lorenz Meier committed
119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144
void QGCXPlaneLink::setVersion(const QString& version)
{
    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
145 146 147 148 149 150
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
151

Lorenz Meier's avatar
Lorenz Meier committed
152

153 154 155 156 157 158
/**
 * @brief Runs the thread
 *
 **/
void QGCXPlaneLink::run()
{
159
    if (!_vehicle) {
160 161 162 163 164 165 166 167
        emit statusMessage("No MAV present");
        return;
    }

    if (connectState) {
        emit statusMessage("Already connected");
        return;
    }
168 169

    socket = new QUdpSocket(this);
Lorenz Meier's avatar
Lorenz Meier committed
170
    socket->moveToThread(this);
171
    connectState = socket->bind(localHost, localPort, QAbstractSocket::ReuseAddressHint);
172 173 174 175
    if (!connectState) {

        emit statusMessage("Binding socket failed!");

176
        socket->deleteLater();
177 178 179
        socket = NULL;
        return;
    }
180

181 182
    emit statusMessage(tr("Waiting for XPlane.."));

183
    QObject::connect(socket, &QUdpSocket::readyRead, this, &QGCXPlaneLink::readBytes);
184

185
    connect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls, Qt::QueuedConnection);
186

187 188 189 190
    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);
191

192
    _vehicle->uas()->startHil();
193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224

#pragma pack(push, 1)
    struct iset_struct
    {
        char b[5];
        int index; // (0->20 in the lsit below)
        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
225
    }
226 227

    ip.index = 0;
228 229
    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));
230 231
    ip.use_ip = 1;

232
    writeBytesSafe((const char*)&ip, sizeof(ip));
233

234 235
    _should_exit = false;

236 237 238 239
    while(!_should_exit) {
        QCoreApplication::processEvents();
        QGC::SLEEP::msleep(5);
    }
240

241
    disconnect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls);
242

243 244 245 246
    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);
247 248
    connectState = false;

249
    disconnect(socket, &QUdpSocket::readyRead, this, &QGCXPlaneLink::readBytes);
250

251
    socket->close();
252
    socket->deleteLater();
253 254 255 256
    socket = NULL;

    emit simulationDisconnected();
    emit simulationConnected(false);
257 258
}

259
void QGCXPlaneLink::setPort(int localPort)
260
{
261
    this->localPort = localPort;
262 263 264 265 266 267
    disconnectSimulation();
    connectSimulation();
}

void QGCXPlaneLink::processError(QProcess::ProcessError err)
{
268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291
    QString msg;
    
    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;
292
    }
293 294 295
    
    
    QGCMessageBox::critical(tr("X-Plane HIL"), msg);
296 297
}

Lorenz Meier's avatar
Lorenz Meier committed
298 299
QString QGCXPlaneLink::getRemoteHost()
{
Lorenz Meier's avatar
Lorenz Meier committed
300
    return QString("%1:%2").arg(remoteHost.toString()).arg(remotePort);
Lorenz Meier's avatar
Lorenz Meier committed
301 302
}

303
/**
Lorenz Meier's avatar
Lorenz Meier committed
304
 * @param newHost Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
305
 */
Lorenz Meier's avatar
Lorenz Meier committed
306
void QGCXPlaneLink::setRemoteHost(const QString& newHost)
307
{
Lorenz Meier's avatar
Lorenz Meier committed
308 309 310
    if (newHost.length() == 0)
        return;

Lorenz Meier's avatar
Lorenz Meier committed
311
    if (newHost.contains(":"))
312
    {
Lorenz Meier's avatar
Lorenz Meier committed
313
        QHostInfo info = QHostInfo::fromName(newHost.split(":").first());
314 315
        if (info.error() == QHostInfo::NoError)
        {
Lorenz Meier's avatar
Lorenz Meier committed
316 317
            // Add newHost
            QList<QHostAddress> newHostAddresses = info.addresses();
318
            QHostAddress address;
Lorenz Meier's avatar
Lorenz Meier committed
319
            for (int i = 0; i < newHostAddresses.size(); i++)
320 321
            {
                // Exclude loopback IPv4 and all IPv6 addresses
Lorenz Meier's avatar
Lorenz Meier committed
322
                if (!newHostAddresses.at(i).toString().contains(":"))
323
                {
Lorenz Meier's avatar
Lorenz Meier committed
324
                    address = newHostAddresses.at(i);
325 326
                }
            }
327 328
            remoteHost = address;
            // Set localPort according to user input
Lorenz Meier's avatar
Lorenz Meier committed
329
            remotePort = newHost.split(":").last().toInt();
330 331 332 333
        }
    }
    else
    {
Lorenz Meier's avatar
Lorenz Meier committed
334
        QHostInfo info = QHostInfo::fromName(newHost);
335 336
        if (info.error() == QHostInfo::NoError)
        {
Lorenz Meier's avatar
Lorenz Meier committed
337
            // Add newHost
338
            remoteHost = info.addresses().first();
Lorenz Meier's avatar
Lorenz Meier committed
339
            if (remotePort == 0) remotePort = 49000;
340 341 342
        }
    }

Lorenz Meier's avatar
Lorenz Meier committed
343 344 345 346 347
    if (isConnected())
    {
        disconnectSimulation();
        connectSimulation();
    }
348 349 350 351

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

352
void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
353
{
354 355 356 357 358 359 360 361 362 363 364 365 366 367
    #pragma pack(push, 1)
    struct payload {
        char b[5];
        int index;
        float f[8];
    } p;
    #pragma pack(pop)

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

368 369 370 371 372
    Q_UNUSED(time);
    Q_UNUSED(systemMode);
    Q_UNUSED(navMode);

    bool isFixedWing = true;
Lorenz Meier's avatar
Lorenz Meier committed
373

374
    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
375 376 377 378
    {
        qDebug() << "MAV_TYPE_QUADROTOR";

        // Individual effort will be provided directly to the actuators on Xplane quadrotor.
379
        p.f[0] = yawRudder;
380
        p.f[1] = rollAilerons;
381 382 383
        p.f[2] = throttle;
        p.f[3] = pitchElevator;

384 385
        isFixedWing = false;
    }
Lorenz Meier's avatar
Lorenz Meier committed
386 387
    else
    {
388
        // direct pass-through, normal fixed-wing.
Lorenz Meier's avatar
Lorenz Meier committed
389 390 391 392
        p.f[0] = -pitchElevator;
        p.f[1] = rollAilerons;
        p.f[2] = yawRudder;
    }
393

394 395 396 397
    if(isFixedWing)
    {
        // Ail / Elevon / Rudder
        p.index = 12;   // XPlane, wing sweep
398
        writeBytesSafe((const char*)&p, sizeof(p));
399 400

        p.index = 8;    // XPlane, joystick? why?
401
        writeBytesSafe((const char*)&p, sizeof(p));
402 403 404 405 406 407 408 409 410

        p.index = 25;   // Thrust
        memset(p.f, 0, sizeof(p.f));
        p.f[0] = throttle;
        p.f[1] = throttle;
        p.f[2] = throttle;
        p.f[3] = throttle;

        // Throttle
411
        writeBytesSafe((const char*)&p, sizeof(p));
412 413 414 415 416
    }
    else
    {
        qDebug() << "Transmitting p.index = 25";
        p.index = 25;   // XPlane, throttle command.
417
        writeBytesSafe((const char*)&p, sizeof(p));
418
    }
419 420 421

}

422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450
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;
}

451
void QGCXPlaneLink::_writeBytes(const QByteArray data)
452
{
453
    if (data.isEmpty()) return;
454 455 456

    // If socket exists and is connected, transmit the data
    if (socket && connectState)
457
    {
458
        socket->writeDatagram(data, remoteHost, remotePort);
459 460 461 462
    }
}

/**
463
 * @brief Read all pending packets from the interface.
464 465 466
 **/
void QGCXPlaneLink::readBytes()
{
Lorenz Meier's avatar
Lorenz Meier committed
467 468
    // Only emit updates on attitude message
    bool emitUpdate = false;
Lorenz Meier's avatar
Lorenz Meier committed
469
    quint16 fields_changed = 0;
Lorenz Meier's avatar
Lorenz Meier committed
470

471
    const qint64 maxLength = 65536;
472 473 474 475 476
    char data[maxLength];
    QHostAddress sender;
    quint16 senderPort;

    unsigned int s = socket->pendingDatagramSize();
477
    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size: " << s << std::endl;
478
    socket->readDatagram(data, maxLength, &sender, &senderPort);
479 480 481 482
    if (s > maxLength) {
    	std::string headStr = std::string(data, data+5);
    	std::cerr << __FILE__ << __LINE__ << " UDP datagram header: " << headStr << std::endl;
    }
483

484 485 486
    // Calculate the number of data segments a 36 bytes
    // XPlane always has 5 bytes header: 'DATA@'
    unsigned nsegs = (s-5)/36;
487

488
    //qDebug() << "XPLANE:" << "LEN:" << s << "segs:" << nsegs;
489

490 491 492 493 494 495
    #pragma pack(push, 1)
    struct payload {
        int index;
        float f[8];
    } p;
    #pragma pack(pop)
496

497 498
    bool oldConnectionState = xPlaneConnected;

499 500 501 502 503
    if (data[0] == 'D' &&
            data[1] == 'A' &&
            data[2] == 'T' &&
            data[3] == 'A')
    {
504
        xPlaneConnected = true;
505

506 507 508 509
        if (oldConnectionState != xPlaneConnected) {
            simUpdateFirst = QGC::groundTimeMilliseconds();
        }

510 511 512 513 514 515 516 517
        for (unsigned i = 0; i < nsegs; i++)
        {
            // Get index
            unsigned ioff = (5+i*36);;
            memcpy(&(p), data+ioff, sizeof(p));

            if (p.index == 3)
            {
518 519
                ind_airspeed = p.f[5] * 0.44704f;
                true_airspeed = p.f[6] * 0.44704f;
520 521
                groundspeed = p.f[7] * 0.44704;

522 523
                //qDebug() << "SPEEDS:" << "airspeed" << airspeed << "m/s, groundspeed" << groundspeed << "m/s";
            }
524 525
            if (p.index == 4)
            {
526 527 528 529 530 531 532
				// 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.
533
                    Eigen::Vector3f g(0, 0, -9.80665f);
534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554
					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);
555
                emitUpdate = true;
556
            }
557
            // atmospheric pressure aircraft for XPlane 9 and 10
558
            else if (p.index == 6)
Lorenz Meier's avatar
Lorenz Meier committed
559
            {
560 561
                // inHg to hPa (hecto Pascal / millibar)
                abs_pressure = p.f[0] * 33.863886666718317f;
Lorenz Meier's avatar
Lorenz Meier committed
562
                temperature = p.f[1];
563
                fields_changed |= (1 << 9) | (1 << 12);
Lorenz Meier's avatar
Lorenz Meier committed
564
            }
565 566 567 568 569 570 571 572 573 574 575
            // 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);
//            }
576
            else if ((xPlaneVersion == 10 && p.index == 16) || (xPlaneVersion == 9 && p.index == 17))
577
            {
578 579 580 581
                // Cross checked with XPlane flight
                pitchspeed = p.f[0];
                rollspeed = p.f[1];
                yawspeed = p.f[2];
582
                fields_changed |= (1 << 3) | (1 << 4) | (1 << 5);
583 584

                emitUpdate = true;
585
            }
Lorenz Meier's avatar
Lorenz Meier committed
586
            else if ((xPlaneVersion == 10 && p.index == 17) || (xPlaneVersion == 9 && p.index == 18))
587
            {
588
                //qDebug() << "HDNG" << "pitch" << p.f[0] << "roll" << p.f[1] << "hding true" << p.f[2] << "hding mag" << p.f[3];
589 590
                pitch = p.f[0] / 180.0f * M_PI;
                roll = p.f[1] / 180.0f * M_PI;
591
                yaw = p.f[2] / 180.0f * M_PI;
592

593 594
                // X-Plane expresses yaw as 0..2 PI
                if (yaw > M_PI) {
595
                    yaw -= 2.0f * static_cast<float>(M_PI);
596 597
                }
                if (yaw < -M_PI) {
598
                    yaw += 2.0f * static_cast<float>(M_PI);
599
                }
Lorenz Meier's avatar
Lorenz Meier committed
600

601
                float yawmag = p.f[3] / 180.0f * M_PI;
Lorenz Meier's avatar
Lorenz Meier committed
602 603

                if (yawmag > M_PI) {
604
                    yawmag -= 2.0f * static_cast<float>(M_PI);
Lorenz Meier's avatar
Lorenz Meier committed
605 606
                }
                if (yawmag < -M_PI) {
607
                    yawmag += 2.0f * static_cast<float>(M_PI);
Lorenz Meier's avatar
Lorenz Meier committed
608 609
                }

610 611 612 613 614 615 616
                // 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;
617
                fields_changed |= (1 << 6) | (1 << 7) | (1 << 8);
Lorenz Meier's avatar
Lorenz Meier committed
618

619 620 621 622
                double cosPhi = cos(roll);
                double sinPhi = sin(roll);
                double cosThe = cos(pitch);
                double sinThe = sin(pitch);
Lorenz Meier's avatar
Lorenz Meier committed
623 624
                double cosPsi = cos(0.0);
                double sinPsi = sin(0.0);
625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645

                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;

                Eigen::Matrix3f m = Eigen::Map<Eigen::Matrix3f>((float*)dcm).eval();

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

                Eigen::Vector3f magbody = m * mag;

646 647
//                qDebug() << "yaw mag:" << p.f[2] << "x" << xmag << "y" << ymag;
//                qDebug() << "yaw mag in body:" << magbody(0) << magbody(1) << magbody(2);
648 649 650 651 652 653 654 655

                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
656
                emitUpdate = true;
657
            }
658

659 660 661 662
//            else if (p.index == 19)
//            {
//                qDebug() << "ATT:" << p.f[0] << p.f[1] << p.f[2];
//            }
663 664 665 666 667 668 669
			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
670
            }
671
            else if (p.index == 21)
Lorenz Meier's avatar
Lorenz Meier committed
672
            {
673 674
                vy = p.f[3];
                vx = -p.f[5];
675 676 677
                // moving 'up' in XPlane is positive, but its negative in NED
                // for us.
                vz = -p.f[4];
Lorenz Meier's avatar
Lorenz Meier committed
678
            }
679 680
            else if (p.index == 12)
            {
681
                //qDebug() << "AIL/ELEV/RUD" << p.f[0] << p.f[1] << p.f[2];
682 683 684
            }
            else if (p.index == 25)
            {
685
                //qDebug() << "THROTTLE" << p.f[0] << p.f[1] << p.f[2] << p.f[3];
686 687 688
            }
            else if (p.index == 0)
            {
689
                //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];
690 691 692
            }
            else if (p.index == 11)
            {
693
                //qDebug() << "CONTROLS" << "ail" << p.f[0] << "elev" << p.f[1] << "rudder" << p.f[2] << "nwheel" << p.f[3];
694 695 696
            }
            else
            {
697
                //qDebug() << "UNKNOWN #" << p.index << p.f[0] << p.f[1] << p.f[2] << p.f[3];
698 699
            }
        }
700 701 702 703 704 705 706 707 708 709 710 711 712 713
    }
    else if (data[0] == 'S' &&
             data[1] == 'N' &&
             data[2] == 'A' &&
             data[3] == 'P')
    {

    }
    else if (data[0] == 'S' &&
               data[1] == 'T' &&
               data[2] == 'A' &&
               data[3] == 'T')
    {

714 715 716 717 718
    }
    else
    {
        qDebug() << "UNKNOWN PACKET:" << data;
    }
719

720 721 722 723 724
    // Wait for 0.5s before actually using the data, so that all fields are filled
    if (QGC::groundTimeMilliseconds() - simUpdateFirst < 500) {
        return;
    }

725
    // Send updated state
726
    if (emitUpdate && (QGC::groundTimeMilliseconds() - simUpdateLast) > 2)
Lorenz Meier's avatar
Lorenz Meier committed
727
    {
728 729 730 731 732 733 734 735 736
        simUpdateHz = simUpdateHz * 0.9f + 0.1f * (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
        if (QGC::groundTimeMilliseconds() - simUpdateLastText > 2000) {
            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();
        }

737 738
        simUpdateLast = QGC::groundTimeMilliseconds();

739
        if (_sensorHilEnabled)
Lorenz Meier's avatar
Lorenz Meier committed
740
        {
741 742 743 744 745 746 747 748 749 750 751
            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;

752 753
            /* measured pressure in hPa, plus offset to simulate weather effects / offsets */
            double p = abs_pressure / 10.0 + barometerOffsetkPa;
754 755 756 757 758 759 760 761 762 763 764 765

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

766 767
            // set pressure alt to changed
            fields_changed |= (1 << 11);
Lorenz Meier's avatar
Lorenz Meier committed
768 769

            emit sensorHilRawImuChanged(QGC::groundTimeUsecs(), xacc, yacc, zacc, rollspeed, pitchspeed, yawspeed,
770
                                        xmag, ymag, zmag, abs_pressure, diff_pressure / 100.0, pressure_alt, temperature, fields_changed);
771

772 773
            // XXX make these GUI-configurable and add randomness
            int gps_fix_type = 3;
774 775
            float eph = 0.3f;
            float epv = 0.6f;
776 777 778 779 780 781 782
            float vel = sqrt(vx*vx + vy*vy + vz*vz);
            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);
        } else {
            emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
783 784 785 786 787
                                 pitchspeed, yawspeed, lat, lon, alt,
                                 vx, vy, vz, ind_airspeed, true_airspeed, xacc, yacc, zacc);
        }

        // Limit ground truth to 25 Hz
788
        if (QGC::groundTimeMilliseconds() - simUpdateLastGroundTruth > 40) {
789 790 791
            emit hilGroundTruthChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
                                       pitchspeed, yawspeed, lat, lon, alt,
                                       vx, vy, vz, ind_airspeed, true_airspeed, xacc, yacc, zacc);
792

793 794
            simUpdateLastGroundTruth = QGC::groundTimeMilliseconds();
        }
Lorenz Meier's avatar
Lorenz Meier committed
795
    }
796

797 798
    if (!oldConnectionState && xPlaneConnected)
    {
799
        emit statusMessage(tr("Receiving from XPlane."));
800 801
    }

802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830
    //    // 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()
{
831
    if (connectState)
832
    {
833 834 835 836
        _should_exit = true;
    } else {
        emit simulationDisconnected();
        emit simulationConnected(false);
837
    }
838 839 840 841

    return !connectState;
}

Lorenz Meier's avatar
Lorenz Meier committed
842
void QGCXPlaneLink::selectAirframe(const QString& plane)
843
{
844
    airframeName = plane;
845

846 847
    if (plane.contains("QRO"))
    {
Lorenz Meier's avatar
Lorenz Meier committed
848
        if (plane.contains("MK") && airframeID != AIRFRAME_QUAD_X_MK_10INCH_I2C)
849 850
        {
            airframeID = AIRFRAME_QUAD_X_MK_10INCH_I2C;
Lorenz Meier's avatar
Lorenz Meier committed
851
            emit airframeChanged("QRO_X / MK");
852
        }
Lorenz Meier's avatar
Lorenz Meier committed
853
        else if (plane.contains("ARDRONE") && airframeID != AIRFRAME_QUAD_X_ARDRONE)
854 855
        {
            airframeID = AIRFRAME_QUAD_X_ARDRONE;
Lorenz Meier's avatar
Lorenz Meier committed
856
            emit airframeChanged("QRO_X / ARDRONE");
857 858 859
        }
        else
        {
Lorenz Meier's avatar
Lorenz Meier committed
860
            bool changed = (airframeID != AIRFRAME_QUAD_DJI_F450_PWM);
861
            airframeID = AIRFRAME_QUAD_DJI_F450_PWM;
Lorenz Meier's avatar
Lorenz Meier committed
862
            if (changed) emit airframeChanged("QRO_X / DJI-F450 / PWM");
863 864
        }
    }
Lorenz Meier's avatar
Lorenz Meier committed
865 866
    else
    {
Lorenz Meier's avatar
Lorenz Meier committed
867
        bool changed = (airframeID != AIRFRAME_UNKNOWN);
Lorenz Meier's avatar
Lorenz Meier committed
868
        airframeID = AIRFRAME_UNKNOWN;
Lorenz Meier's avatar
Lorenz Meier committed
869
        if (changed) emit airframeChanged("X Plane default");
Lorenz Meier's avatar
Lorenz Meier committed
870
    }
871 872 873 874
}

void QGCXPlaneLink::setPositionAttitude(double lat, double lon, double alt, double roll, double pitch, double yaw)
{
875
    #pragma pack(push, 1)
876 877
    struct VEH1_struct
    {
878
        char header[5];
879 880 881 882 883
        quint32 p;
        double lat_lon_ele[3];
        float psi_the_phi[3];
        float gear_flap_vect[3];
    } pos;
884
    #pragma pack(pop)
885

886 887 888 889 890
    pos.header[0] = 'V';
    pos.header[1] = 'E';
    pos.header[2] = 'H';
    pos.header[3] = '1';
    pos.header[4] = '0';
891 892 893 894
    pos.p = 0;
    pos.lat_lon_ele[0] = lat;
    pos.lat_lon_ele[1] = lon;
    pos.lat_lon_ele[2] = alt;
895 896 897 898 899 900 901
    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;

902
    writeBytesSafe((const char*)&pos, sizeof(pos));
903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919

//    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;

920
//    writeBytesSafe((const char*)&pos, sizeof(pos));
921 922 923 924 925 926 927 928 929 930 931 932 933 934 935
}

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

    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;
    double offAlt = rand() / static_cast<double>(RAND_MAX) * 200.0 + 100.0;

Don Gagne's avatar
Don Gagne committed
936
    if (_vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt < 0)
937 938 939 940
    {
        offAlt *= -1.0;
    }

941 942
    setPositionAttitude(_vehicle->latitude() + offLat,
                        _vehicle->longitude() + offLon,
Don Gagne's avatar
Don Gagne committed
943 944 945
                        _vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt,
                        _vehicle->roll()->rawValue().toDouble(),
                        _vehicle->pitch()->rawValue().toDouble(),
946
                        _vehicle->uas()->getYaw());
947 948 949 950 951 952 953 954 955 956 957
}

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;

958 959
    setPositionAttitude(_vehicle->latitude(),
                        _vehicle->longitude(),
Don Gagne's avatar
Don Gagne committed
960
                        _vehicle->altitudeAMSL()->rawValue().toDouble(),
961 962 963 964 965
                        roll,
                        pitch,
                        yaw);
}

966 967 968 969 970 971 972
/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool QGCXPlaneLink::connectSimulation()
{
973 974 975 976 977 978 979 980 981
    if (connectState) {
        qDebug() << "Simulation already active";
    } else {
        qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
        // XXX Hack
        storeSettings();

        start(HighPriority);
    }
982

983
    return true;
984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005
}

/**
 * @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);
}