wip, arducopter hil model and protocol

files/flightgear/Aircraft/arducopter/arducopter.xml

@@ -103,11 +103,11 @@
   </ground_reactions>
   <!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
   <propulsion>
-    <engine file="a2830-12" name="front">
+<engine file="a2830-12" name="right">
       <location unit="M">
-        <x>  -0.283 </x>
-        <y>   0.00  </y>
-        <z>   0.00  </z>
+        <x>   0.000 </x>
+        <y>  -0.283 </y>
+        <z>   0.000 </z>
       </location>
       <orient unit="DEG">
         <pitch> 90.00 </pitch>
@@ -117,8 +117,8 @@
       <feed>0</feed>
       <thruster file="prop10x4.5">
         <location unit="M">
-          <x>  -0.283 </x>
-          <y>   0.00  </y>
+          <x>   0.000 </x>
+          <y>  -0.283 </y>
           <z>   0.125 </z>
         </location>
         <orient unit="DEG">
@@ -130,11 +130,11 @@
         <p_factor> 10 </p_factor>
       </thruster>
     </engine>
-    <engine file="a2830-12" name="rear">
+    <engine file="a2830-12" name="left">
       <location unit="M">
-        <x>   0.283 </x>
-        <y>   0.000 </y>
-        <z>   0.000 </z>
+        <x>   0.00 </x>
+        <y>   0.283 </y>
+        <z>   0.00 </z>
       </location>
       <orient unit="DEG">
         <pitch> 90.00 </pitch>
@@ -144,8 +144,8 @@
       <feed>0</feed>
       <thruster file="prop10x4.5">
         <location unit="M">
-          <x>   0.283 </x>
-          <y>   0.000 </y>
+          <x>   0.00 </x>
+          <y>   0.283 </y>
           <z>   0.125 </z>
         </location>
         <orient unit="DEG">
@@ -157,11 +157,12 @@
         <p_factor> 10 </p_factor>
       </thruster>
     </engine>
-    <engine file="a2830-12" name="left">
+
+    <engine file="a2830-12" name="front">
       <location unit="M">
-        <x>   0.00 </x>
-        <y>   0.283 </y>
-        <z>   0.00 </z>
+        <x>  -0.283 </x>
+        <y>   0.00  </y>
+        <z>   0.00  </z>
       </location>
       <orient unit="DEG">
         <pitch> 90.00 </pitch>
@@ -171,8 +172,8 @@
       <feed>0</feed>
       <thruster file="prop10x4.5">
         <location unit="M">
-          <x>   0.00 </x>
-          <y>   0.283 </y>
+          <x>  -0.283 </x>
+          <y>   0.00  </y>
           <z>   0.125 </z>
         </location>
         <orient unit="DEG">
@@ -184,10 +185,10 @@
         <p_factor> 10 </p_factor>
       </thruster>
     </engine>
-    <engine file="a2830-12" name="right">
+    <engine file="a2830-12" name="rear">
       <location unit="M">
-        <x>   0.000 </x>
-        <y>  -0.283 </y>
+        <x>   0.283 </x>
+        <y>   0.000 </y>
         <z>   0.000 </z>
       </location>
       <orient unit="DEG">
@@ -198,8 +199,8 @@
       <feed>0</feed>
       <thruster file="prop10x4.5">
         <location unit="M">
-          <x>   0.000 </x>
-          <y>  -0.283 </y>
+          <x>   0.283 </x>
+          <y>   0.000 </y>
           <z>   0.125 </z>
         </location>
         <orient unit="DEG">
@@ -211,6 +212,8 @@
         <p_factor> 10 </p_factor>
       </thruster>
     </engine>
+    
+    
     <tank type="FUEL" number="0">
       <location unit="M">
         <x>   0.00 </x>
@@ -222,6 +225,7 @@
       <contents unit="KG"> 0.0 </contents>
     </tank>
   </propulsion>
+
   <aerodynamics>
     <axis name="LIFT">
         </axis>

files/flightgear/Protocol/qgroundcontrol-quadrotor.xml

@@ -141,6 +141,49 @@
      <node>/velocities/airspeed-kt</node>
      <factor>0.514444444444444</factor>      <!-- knots to mps -->
    </chunk>
+
+   <chunk>
+     <name>airspeed-indicated-mps</name>
+     <type>float</type>
+     <format>%.8f</format>
+     <node>/instrumentation/indicated-speed-kt</node>
+     <factor>0.514444444444444</factor>      <!-- knots to mps -->
+   </chunk>
+
+   <!-- Magnetometer -->
+   <chunk>
+    <name>Magnetic Variation (rad)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/environment/magnetic-variation-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+
+   <chunk>
+    <name>Magnetic Dip (rad)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/environment/magnetic-dip-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+
+   <!-- Temperature -->
+   <chunk>
+    <name>Temperature (deg C)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/environment/temperature-degc</node>
+    <factor>1</factor>
+   </chunk>
+
+   <!-- Pressure -->
+   <chunk>
+    <name>Pressure (hPa)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/environment/pressure-inhg</node>
+    <factor>33.86389</factor>                  <!-- inhg to hpa -->
+   </chunk>
    
   </output>
 
@@ -152,22 +195,27 @@
      <!-- motors, in range 0.0 to 1.0 -->
      <chunk>
        <name>throttle0</name>
-       <type>double</type>
+       <type>float</type>
        <node>/controls/engines/engine[0]/throttle</node>
      </chunk> 
      <chunk>
        <name>throttle1</name>
-       <type>double</type>
+       <type>float</type>
        <node>/controls/engines/engine[1]/throttle</node>
      </chunk> 
      <chunk>
        <name>throttle2</name>
-       <type>double</type>
+       <type>float</type>
        <node>/controls/engines/engine[2]/throttle</node>
+     </chunk>
+     <chunk>
+       <name>running</name>
+       <type>bool</type>
+       <node>/engines/engine/running</node>
      </chunk> 
      <chunk>
        <name>throttle3</name>
-       <type>double</type>
+       <type>float</type>
        <node>/controls/engines/engine[3]/throttle</node>
      </chunk> 
    
@@ -176,4 +224,4 @@
 
  </generic>
 
-</PropertyList>
\ No newline at end of file
+</PropertyList>