diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index 3438c34..27a9d13 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -21,6 +21,9 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
roll(0.0),
pitch(0.0),
yaw(0.0),
+ rollspeed(0.0),
+ pitchspeed(0.0),
+ yawspeed(0.0),
globalNavigation(true),
firstWP(false),
// previousSPX(8.548056),
@@ -98,42 +101,50 @@ void MAVLinkSimulationMAV::mainloop()
float zsign = (zm < 0) ? -1.0f : 1.0f;
- if (!firstWP) {
- //float trueyaw = atan2f(xm, ym);
+ if (!(sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL))
+ {
+ if (!firstWP) {
+ //float trueyaw = atan2f(xm, ym);
- float newYaw = atan2f(ym, xm);
+ float newYaw = atan2f(ym, xm);
- if (fabs(yaw - newYaw) < 90) {
- yaw = yaw*0.7 + 0.3*newYaw;
- } else {
- yaw = newYaw;
- }
+ if (fabs(yaw - newYaw) < 90) {
+ yaw = yaw*0.7 + 0.3*newYaw;
+ } else {
+ yaw = newYaw;
+ }
- //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
+ //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
- //if (sqrt(xm*xm+ym*ym) > 0.0000001)
- if (flying) {
- x += cos(yaw)*radPer100ms;
- y += sin(yaw)*radPer100ms;
- z += altPer100ms*zsign;
+ //if (sqrt(xm*xm+ym*ym) > 0.0000001)
+ if (flying) {
+ x += cos(yaw)*radPer100ms;
+ y += sin(yaw)*radPer100ms;
+ z += altPer100ms*zsign;
+ }
+
+ //if (xm < 0.001) xm
+ } else {
+ x = nextSPX;
+ y = nextSPY;
+ z = nextSPZ;
+ firstWP = false;
+ qDebug() << "INIT STEP";
}
+ }
+ else
+ {
+ // FIXME Implement heading and altitude controller
- //if (xm < 0.001) xm
- } else {
- x = nextSPX;
- y = nextSPY;
- z = nextSPZ;
- firstWP = false;
- qDebug() << "INIT STEP";
}
// GLOBAL POSITION
mavlink_message_t msg;
mavlink_global_position_int_t pos;
- pos.alt = z*1000.0;
- pos.lat = x*1E7;
- pos.lon = y*1E7;
+ pos.alt = altitude*1000.0;
+ pos.lat = longitude*1E7;
+ pos.lon = longitude*1E7;
pos.vx = sin(yaw)*10.0f*100.0f;
pos.vy = 0;
pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f;
@@ -144,12 +155,12 @@ void MAVLinkSimulationMAV::mainloop()
// ATTITUDE
mavlink_attitude_t attitude;
attitude.time_boot_ms = 0;
- attitude.roll = 0.0f;
- attitude.pitch = 0.0f;
+ attitude.roll = roll;
+ attitude.pitch = pitch;
attitude.yaw = yaw;
- attitude.rollspeed = 0.0f;
- attitude.pitchspeed = 0.0f;
- attitude.yawspeed = 0.0f;
+ attitude.rollspeed = rollspeed;
+ attitude.pitchspeed = pitchspeed;
+ attitude.yawspeed = yawspeed;
mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude);
link->sendMAVLinkMessage(&msg);
@@ -157,11 +168,11 @@ void MAVLinkSimulationMAV::mainloop()
// SYSTEM STATUS
mavlink_sys_status_t status;
status.load = 300;
-// status.mode = sys_mode;
-// status.nav_mode = nav_mode;
+ // status.mode = sys_mode;
+ // status.nav_mode = nav_mode;
status.errors_comm = 0;
status.voltage_battery = 10500;
-// status.status = sys_state;
+ // status.status = sys_state;
status.battery_remaining = 90;
mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
link->sendMAVLinkMessage(&msg);
@@ -171,7 +182,7 @@ void MAVLinkSimulationMAV::mainloop()
mavlink_vfr_hud_t hud;
hud.airspeed = pos.vx/100.0f;
hud.groundspeed = pos.vx/100.0f;
- hud.alt = z;
+ hud.alt = altitude;
hud.heading = static_cast<int>((yaw/M_PI)*180.0f+180.0f) % 360;
hud.climb = pos.vz/100.0f;
hud.throttle = 90;
@@ -211,7 +222,7 @@ void MAVLinkSimulationMAV::mainloop()
{
mavlink_hil_controls_t hil;
hil.roll_ailerons = 0.0;
- hil.pitch_elevator = 0.0;
+ hil.pitch_elevator = 0.05;
hil.yaw_rudder = 0.05;
hil.throttle = 0.6;
// Encode the data (adding header and checksums, etc.)
@@ -223,12 +234,12 @@ void MAVLinkSimulationMAV::mainloop()
// Send actual controller outputs
// This message just shows the direction
// and magnitude of the control output
-// mavlink_position_controller_output_t pos;
-// pos.x = sin(yaw)*127.0f;
-// pos.y = cos(yaw)*127.0f;
-// pos.z = 0;
-// mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
-// link->sendMAVLinkMessage(&ret);
+ // mavlink_position_controller_output_t pos;
+ // pos.x = sin(yaw)*127.0f;
+ // pos.y = cos(yaw)*127.0f;
+ // pos.z = 0;
+ // mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
+ // link->sendMAVLinkMessage(&ret);
// Send a named value with name "FLOAT" and 0.5f as value
@@ -302,80 +313,80 @@ static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
- switch (f->type) {
- case MAVLINK_TYPE_CHAR:
- qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
- break;
- case MAVLINK_TYPE_UINT8_T:
- qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
- break;
- case MAVLINK_TYPE_INT8_T:
- qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
- break;
- case MAVLINK_TYPE_UINT16_T:
- qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
- break;
- case MAVLINK_TYPE_INT16_T:
- qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
- break;
- case MAVLINK_TYPE_UINT32_T:
- qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
- break;
- case MAVLINK_TYPE_INT32_T:
- qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
- break;
- case MAVLINK_TYPE_UINT64_T:
- qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
- break;
- case MAVLINK_TYPE_INT64_T:
- qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
- break;
- case MAVLINK_TYPE_FLOAT:
- qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
- break;
- case MAVLINK_TYPE_DOUBLE:
- qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
- break;
- }
+ switch (f->type) {
+ case MAVLINK_TYPE_CHAR:
+ qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
+ break;
+ case MAVLINK_TYPE_UINT8_T:
+ qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
+ break;
+ case MAVLINK_TYPE_INT8_T:
+ qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
+ break;
+ case MAVLINK_TYPE_UINT16_T:
+ qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
+ break;
+ case MAVLINK_TYPE_INT16_T:
+ qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
+ break;
+ case MAVLINK_TYPE_UINT32_T:
+ qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
+ break;
+ case MAVLINK_TYPE_INT32_T:
+ qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
+ break;
+ case MAVLINK_TYPE_UINT64_T:
+ qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
+ break;
+ case MAVLINK_TYPE_INT64_T:
+ qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
+ break;
+ case MAVLINK_TYPE_FLOAT:
+ qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
+ break;
+ case MAVLINK_TYPE_DOUBLE:
+ qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
+ break;
+ }
}
static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f)
{
- qDebug("%s: ", f->name);
- if (f->array_length == 0) {
- print_one_field(msg, f, 0);
- qDebug(" ");
- } else {
- unsigned i;
- /* print an array */
- if (f->type == MAVLINK_TYPE_CHAR) {
- qDebug("'%.*s'", f->array_length,
- f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
+ qDebug("%s: ", f->name);
+ if (f->array_length == 0) {
+ print_one_field(msg, f, 0);
+ qDebug(" ");
+ } else {
+ unsigned i;
+ /* print an array */
+ if (f->type == MAVLINK_TYPE_CHAR) {
+ qDebug("'%.*s'", f->array_length,
+ f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
- } else {
- qDebug("[ ");
- for (i=0; i<f->array_length; i++) {
- print_one_field(msg, f, i);
- if (i < f->array_length) {
- qDebug(", ");
- }
- }
- qDebug("]");
+ } else {
+ qDebug("[ ");
+ for (i=0; i<f->array_length; i++) {
+ print_one_field(msg, f, i);
+ if (i < f->array_length) {
+ qDebug(", ");
}
+ }
+ qDebug("]");
}
- qDebug(" ");
+ }
+ qDebug(" ");
}
static void print_message(const mavlink_message_t *msg)
{
- const mavlink_message_info_t *m = &message_info[msg->msgid];
- const mavlink_field_info_t *f = m->fields;
- unsigned i;
- qDebug("%s { ", m->name);
- for (i=0; i<m->num_fields; i++) {
- print_field(msg, &f[i]);
- }
- qDebug("}\n");
+ const mavlink_message_info_t *m = &message_info[msg->msgid];
+ const mavlink_field_info_t *f = m->fields;
+ unsigned i;
+ qDebug("%s { ", m->name);
+ for (i=0; i<m->num_fields; i++) {
+ print_field(msg, &f[i]);
+ }
+ qDebug("}\n");
}
void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
@@ -395,31 +406,46 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
if (systemid == mode.target_system) sys_mode = mode.base_mode;
}
break;
+ case MAVLINK_MSG_ID_HIL_STATE:
+ {
+ mavlink_hil_state_t state;
+ mavlink_msg_hil_state_decode(&msg, &state);
+ roll = state.roll;
+ pitch = state.pitch;
+ yaw = state.yaw;
+ rollspeed = state.rollspeed;
+ pitchspeed = state.pitchspeed;
+ yawspeed = state.yawspeed;
+ latitude = state.lat;
+ longitude = state.lon;
+ altitude = state.alt;
+ }
+ break;
// FIXME MAVLINKV10PORTINGNEEDED
-// case MAVLINK_MSG_ID_ACTION: {
-// mavlink_action_t action;
-// mavlink_msg_action_decode(&msg, &action);
-// if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
-// mavlink_action_ack_t ack;
-// ack.action = action.action;
-//// switch (action.action) {
-//// case MAV_ACTION_TAKEOFF:
-//// flying = true;
-//// nav_mode = MAV_NAV_LIFTOFF;
-//// ack.result = 1;
-//// break;
-//// default: {
-//// ack.result = 0;
-//// }
-//// break;
-//// }
-
-// // Give feedback about action
-// mavlink_message_t r_msg;
-// mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
-// link->sendMAVLinkMessage(&r_msg);
-// }
-// }
+ // case MAVLINK_MSG_ID_ACTION: {
+ // mavlink_action_t action;
+ // mavlink_msg_action_decode(&msg, &action);
+ // if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
+ // mavlink_action_ack_t ack;
+ // ack.action = action.action;
+ //// switch (action.action) {
+ //// case MAV_ACTION_TAKEOFF:
+ //// flying = true;
+ //// nav_mode = MAV_NAV_LIFTOFF;
+ //// ack.result = 1;
+ //// break;
+ //// default: {
+ //// ack.result = 0;
+ //// }
+ //// break;
+ //// }
+
+ // // Give feedback about action
+ // mavlink_message_t r_msg;
+ // mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
+ // link->sendMAVLinkMessage(&r_msg);
+ // }
+ // }
break;
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: {
mavlink_set_local_position_setpoint_t sp;
diff --git a/src/comm/MAVLinkSimulationMAV.h b/src/comm/MAVLinkSimulationMAV.h
index 8417ea3..3b7bea6 100644
--- a/src/comm/MAVLinkSimulationMAV.h
+++ b/src/comm/MAVLinkSimulationMAV.h
@@ -36,6 +36,9 @@ protected:
double roll;
double pitch;
double yaw;
+ double rollspeed;
+ double pitchspeed;
+ double yawspeed;
bool globalNavigation;
bool firstWP;
diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
index 4022154..be3d377 100644
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -24,6 +24,7 @@ This file is part of the QGROUNDCONTROL project
/**
* @file
* @brief Definition of UDP connection (server) for unmanned vehicles
+ * @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
@@ -38,7 +39,9 @@ This file is part of the QGROUNDCONTROL project
#include <QHostInfo>
#include "MainWindow.h"
-QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port)
+QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) :
+ process(NULL),
+ terraSync(NULL)
{
this->host = host;
this->port = port+mav->getUASID();
@@ -282,8 +285,15 @@ bool QGCFlightGearLink::disconnectSimulation()
delete process;
process = NULL;
}
+ if (terraSync)
+ {
+ terraSync->close();
+ delete terraSync;
+ terraSync = NULL;
+ }
if (socket)
{
+ socket->close();
delete socket;
socket = NULL;
}
@@ -309,6 +319,7 @@ bool QGCFlightGearLink::connectSimulation()
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
+ terraSync = new QProcess(this);
connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
@@ -317,62 +328,145 @@ bool QGCFlightGearLink::connectSimulation()
// Catch process error
QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
+ QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
+ this, SLOT(processError(QProcess::ProcessError)));
// Start Flightgear
QStringList processCall;
QString processFgfs;
+ QString processTerraSync;
QString fgRoot;
QString fgScenery;
- QString aircraft("Rascal110-JSBSim");
+ QString aircraft;
+
+ if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+ {
+ aircraft = "Rascal110-JSBSim";
+ }
+ else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+ {
+ aircraft = "arducopter";
+ }
+ else
+ {
+ aircraft = "Rascal110-JSBSim";
+ }
#ifdef Q_OS_MACX
processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
- fgRoot = "--fg-root=/Applications/FlightGear.app/Contents/Resources/data";
- fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/Scenery:/Applications/FlightGear.app/Contents/Resources/data/Scenery-Terrasync";
+ processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
+ fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
+ //fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
+ fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
+ // /Applications/FlightGear.app/Contents/Resources/data/Scenery:
#endif
#ifdef Q_OS_WIN32
processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
- fgRoot = "--fg-root=C:\\Program Files (x86)\\FlightGear\\data";
+ fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
+ fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
#endif
#ifdef Q_OS_LINUX
processFgfs = "fgfs";
- fgRoot = "--fg-root=/usr/share/flightgear/data";
+ fgRoot = "/usr/share/flightgear/data";
+ fgScenery = "/usr/share/flightgear/data/Scenery-Terrasync";
#endif
- processCall << fgRoot;
- processCall << fgScenery;
- processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
- processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+ // Sanity checks
+ bool sane = true;
+ QFileInfo executable(processFgfs);
+ if (!executable.isExecutable())
+ {
+ MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
+ sane = false;
+ }
+
+ QFileInfo root(fgRoot);
+ if (!root.isDir())
+ {
+ MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
+ sane = false;
+ }
+
+ QFileInfo scenery(fgScenery);
+ if (!scenery.isDir())
+ {
+ MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
+ sane = false;
+ }
+
+ if (!sane) return false;
+
+ // --atlas=socket,out,1,localhost,5505,udp
+ // terrasync -p 5505 -S -d /usr/local/share/TerraSync
+
+ processCall << QString("--fg-root=%1").arg(fgRoot);
+ processCall << QString("--fg-scenery=%1").arg(fgScenery);
+ if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+ {
+ // FIXME ADD QUAD-Specific protocol here
+ processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
+ processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+ }
+ else
+ {
+ processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
+ processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+ }
+ processCall << "--atlas=socket,out,1,localhost,5505,udp";
processCall << "--in-air";
+ processCall << "--roll=0";
+ processCall << "--pitch=0";
processCall << "--vc=90";
processCall << "--heading=300";
processCall << "--timeofday=noon";
processCall << "--disable-hud-3d";
processCall << "--disable-fullscreen";
-// processCall << "--control=mouse";
-// processCall << "--disable-intro-music";
-// processCall << "--disable-sound";
-// processCall << "--disable-anti-alias-hud";
-// processCall << "--disable-random-objects";
-// processCall << "--disable-ai-models";
-// processCall << "--wind=0@0";
+ processCall << "--geometry=400x300";
+ processCall << "--disable-anti-alias-hud";
+ processCall << "--wind=0@0";
+ processCall << "--turbulence=0.0";
+ processCall << "--prop:/sim/frame-rate-throttle-hz=30";
+ processCall << "--control=mouse";
+ processCall << "--disable-intro-music";
+ processCall << "--disable-sound";
+ processCall << "--disable-random-objects";
+ processCall << "--disable-ai-models";
+ processCall << "--shading-flat";
+ processCall << "--fog-disable";
+ processCall << "--disable-specular-highlight";
+ //processCall << "--disable-skyblend";
+ processCall << "--disable-random-objects";
+ processCall << "--disable-panel";
+ //processCall << "--disable-horizon-effect";
+ processCall << "--disable-clouds";
processCall << "--fdm=jsb";
- processCall << "--prop:/engines/engine/running=true";
processCall << "--units-meters";
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
- // Start the remaining three motors of the quad
+ // Start all engines of the quad
+ processCall << "--prop:/engines/engine[0]/running=true";
processCall << "--prop:/engines/engine[1]/running=true";
processCall << "--prop:/engines/engine[2]/running=true";
processCall << "--prop:/engines/engine[3]/running=true";
}
+ else
+ {
+ processCall << "--prop:/engines/engine/running=true";
+ }
processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// Add new argument with this: processCall << "";
processCall << QString("--aircraft=%2").arg(aircraft);
+
+ QStringList terraSyncArguments;
+ terraSyncArguments << "-p 5505";
+ terraSyncArguments << "-S";
+ terraSyncArguments << QString("-d=%1").arg(fgScenery);
+
+ terraSync->start(processTerraSync, terraSyncArguments);
process->start(processFgfs, processCall);
diff --git a/src/comm/QGCFlightGearLink.h b/src/comm/QGCFlightGearLink.h
index 21def05..b2445de 100644
--- a/src/comm/QGCFlightGearLink.h
+++ b/src/comm/QGCFlightGearLink.h
@@ -109,6 +109,7 @@ protected:
QTimer refreshTimer;
UASInterface* mav;
QProcess* process;
+ QProcess* terraSync;
void setName(QString name);