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Working HIL!

QGC4.4
lm 14 years ago
parent
b51baab709
commit
a821d12190
4 changed files with 270 additions and 146 deletions
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  1. 280
      src/comm/MAVLinkSimulationMAV.cc
  2. 3
      src/comm/MAVLinkSimulationMAV.h
  3. 132
      src/comm/QGCFlightGearLink.cc
  4. 1
      src/comm/QGCFlightGearLink.h

280
src/comm/MAVLinkSimulationMAV.cc
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@ -21,6 +21,9 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
roll(0.0), roll(0.0),
pitch(0.0), pitch(0.0),
yaw(0.0), yaw(0.0),
rollspeed(0.0),
pitchspeed(0.0),
yawspeed(0.0),
globalNavigation(true), globalNavigation(true),
firstWP(false), firstWP(false),
// previousSPX(8.548056), // previousSPX(8.548056),
@ -98,42 +101,50 @@ void MAVLinkSimulationMAV::mainloop()
float zsign = (zm < 0) ? -1.0f : 1.0f; float zsign = (zm < 0) ? -1.0f : 1.0f;
if (!firstWP) { if (!(sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL))
//float trueyaw = atan2f(xm, ym); {
if (!firstWP) {
//float trueyaw = atan2f(xm, ym);
float newYaw = atan2f(ym, xm); float newYaw = atan2f(ym, xm);
if (fabs(yaw - newYaw) < 90) { if (fabs(yaw - newYaw) < 90) {
yaw = yaw*0.7 + 0.3*newYaw; yaw = yaw*0.7 + 0.3*newYaw;
} else { } else {
yaw = newYaw; 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 (sqrt(xm*xm+ym*ym) > 0.0000001)
if (flying) { if (flying) {
x += cos(yaw)*radPer100ms; x += cos(yaw)*radPer100ms;
y += sin(yaw)*radPer100ms; y += sin(yaw)*radPer100ms;
z += altPer100ms*zsign; 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 // GLOBAL POSITION
mavlink_message_t msg; mavlink_message_t msg;
mavlink_global_position_int_t pos; mavlink_global_position_int_t pos;
pos.alt = z*1000.0; pos.alt = altitude*1000.0;
pos.lat = x*1E7; pos.lat = longitude*1E7;
pos.lon = y*1E7; pos.lon = longitude*1E7;
pos.vx = sin(yaw)*10.0f*100.0f; pos.vx = sin(yaw)*10.0f*100.0f;
pos.vy = 0; pos.vy = 0;
pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f; pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f;
@ -144,12 +155,12 @@ void MAVLinkSimulationMAV::mainloop()
// ATTITUDE // ATTITUDE
mavlink_attitude_t attitude; mavlink_attitude_t attitude;
attitude.time_boot_ms = 0; attitude.time_boot_ms = 0;
attitude.roll = 0.0f; attitude.roll = roll;
attitude.pitch = 0.0f; attitude.pitch = pitch;
attitude.yaw = yaw; attitude.yaw = yaw;
attitude.rollspeed = 0.0f; attitude.rollspeed = rollspeed;
attitude.pitchspeed = 0.0f; attitude.pitchspeed = pitchspeed;
attitude.yawspeed = 0.0f; attitude.yawspeed = yawspeed;
mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude); mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude);
link->sendMAVLinkMessage(&msg); link->sendMAVLinkMessage(&msg);
@ -157,11 +168,11 @@ void MAVLinkSimulationMAV::mainloop()
// SYSTEM STATUS // SYSTEM STATUS
mavlink_sys_status_t status; mavlink_sys_status_t status;
status.load = 300; status.load = 300;
// status.mode = sys_mode; // status.mode = sys_mode;
// status.nav_mode = nav_mode; // status.nav_mode = nav_mode;
status.errors_comm = 0; status.errors_comm = 0;
status.voltage_battery = 10500; status.voltage_battery = 10500;
// status.status = sys_state; // status.status = sys_state;
status.battery_remaining = 90; status.battery_remaining = 90;
mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status); mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
link->sendMAVLinkMessage(&msg); link->sendMAVLinkMessage(&msg);
@ -171,7 +182,7 @@ void MAVLinkSimulationMAV::mainloop()
mavlink_vfr_hud_t hud; mavlink_vfr_hud_t hud;
hud.airspeed = pos.vx/100.0f; hud.airspeed = pos.vx/100.0f;
hud.groundspeed = 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.heading = static_cast<int>((yaw/M_PI)*180.0f+180.0f) % 360;
hud.climb = pos.vz/100.0f; hud.climb = pos.vz/100.0f;
hud.throttle = 90; hud.throttle = 90;
@ -211,7 +222,7 @@ void MAVLinkSimulationMAV::mainloop()
{ {
mavlink_hil_controls_t hil; mavlink_hil_controls_t hil;
hil.roll_ailerons = 0.0; hil.roll_ailerons = 0.0;
hil.pitch_elevator = 0.0; hil.pitch_elevator = 0.05;
hil.yaw_rudder = 0.05; hil.yaw_rudder = 0.05;
hil.throttle = 0.6; hil.throttle = 0.6;
// Encode the data (adding header and checksums, etc.) // Encode the data (adding header and checksums, etc.)
@ -223,12 +234,12 @@ void MAVLinkSimulationMAV::mainloop()
// Send actual controller outputs // Send actual controller outputs
// This message just shows the direction // This message just shows the direction
// and magnitude of the control output // and magnitude of the control output
// mavlink_position_controller_output_t pos; // mavlink_position_controller_output_t pos;
// pos.x = sin(yaw)*127.0f; // pos.x = sin(yaw)*127.0f;
// pos.y = cos(yaw)*127.0f; // pos.y = cos(yaw)*127.0f;
// pos.z = 0; // pos.z = 0;
// mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos); // mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
// link->sendMAVLinkMessage(&ret); // link->sendMAVLinkMessage(&ret);
// Send a named value with name "FLOAT" and 0.5f as value // 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) 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) #define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) { switch (f->type) {
case MAVLINK_TYPE_CHAR: case MAVLINK_TYPE_CHAR:
qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1)); qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break; break;
case MAVLINK_TYPE_UINT8_T: case MAVLINK_TYPE_UINT8_T:
qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1)); qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break; break;
case MAVLINK_TYPE_INT8_T: case MAVLINK_TYPE_INT8_T:
qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1)); qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break; break;
case MAVLINK_TYPE_UINT16_T: case MAVLINK_TYPE_UINT16_T:
qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2)); qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break; break;
case MAVLINK_TYPE_INT16_T: case MAVLINK_TYPE_INT16_T:
qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2)); qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break; break;
case MAVLINK_TYPE_UINT32_T: case MAVLINK_TYPE_UINT32_T:
qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4)); qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break; break;
case MAVLINK_TYPE_INT32_T: case MAVLINK_TYPE_INT32_T:
qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4)); qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break; break;
case MAVLINK_TYPE_UINT64_T: case MAVLINK_TYPE_UINT64_T:
qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8)); qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break; break;
case MAVLINK_TYPE_INT64_T: case MAVLINK_TYPE_INT64_T:
qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8)); qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break; break;
case MAVLINK_TYPE_FLOAT: case MAVLINK_TYPE_FLOAT:
qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4)); qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break; break;
case MAVLINK_TYPE_DOUBLE: case MAVLINK_TYPE_DOUBLE:
qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8)); qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break; break;
} }
} }
static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f) static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f)
{ {
qDebug("%s: ", f->name); qDebug("%s: ", f->name);
if (f->array_length == 0) { if (f->array_length == 0) {
print_one_field(msg, f, 0); print_one_field(msg, f, 0);
qDebug(" "); qDebug(" ");
} else { } else {
unsigned i; unsigned i;
/* print an array */ /* print an array */
if (f->type == MAVLINK_TYPE_CHAR) { if (f->type == MAVLINK_TYPE_CHAR) {
qDebug("'%.*s'", f->array_length, qDebug("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg)); f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else { } else {
qDebug("[ "); qDebug("[ ");
for (i=0; i<f->array_length; i++) { for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i); print_one_field(msg, f, i);
if (i < f->array_length) { if (i < f->array_length) {
qDebug(", "); qDebug(", ");
}
}
qDebug("]");
} }
}
qDebug("]");
} }
qDebug(" "); }
qDebug(" ");
} }
static void print_message(const mavlink_message_t *msg) static void print_message(const mavlink_message_t *msg)
{ {
const mavlink_message_info_t *m = &message_info[msg->msgid]; const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields; const mavlink_field_info_t *f = m->fields;
unsigned i; unsigned i;
qDebug("%s { ", m->name); qDebug("%s { ", m->name);
for (i=0; i<m->num_fields; i++) { for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]); print_field(msg, &f[i]);
} }
qDebug("}\n"); qDebug("}\n");
} }
void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg) 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; if (systemid == mode.target_system) sys_mode = mode.base_mode;
} }
break; 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 // FIXME MAVLINKV10PORTINGNEEDED
// case MAVLINK_MSG_ID_ACTION: { // case MAVLINK_MSG_ID_ACTION: {
// mavlink_action_t action; // mavlink_action_t action;
// mavlink_msg_action_decode(&msg, &action); // mavlink_msg_action_decode(&msg, &action);
// if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) { // if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
// mavlink_action_ack_t ack; // mavlink_action_ack_t ack;
// ack.action = action.action; // ack.action = action.action;
//// switch (action.action) { //// switch (action.action) {
//// case MAV_ACTION_TAKEOFF: //// case MAV_ACTION_TAKEOFF:
//// flying = true; //// flying = true;
//// nav_mode = MAV_NAV_LIFTOFF; //// nav_mode = MAV_NAV_LIFTOFF;
//// ack.result = 1; //// ack.result = 1;
//// break; //// break;
//// default: { //// default: {
//// ack.result = 0; //// ack.result = 0;
//// } //// }
//// break; //// break;
//// } //// }
// // Give feedback about action // // Give feedback about action
// mavlink_message_t r_msg; // mavlink_message_t r_msg;
// mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack); // mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
// link->sendMAVLinkMessage(&r_msg); // link->sendMAVLinkMessage(&r_msg);
// } // }
// } // }
break; break;
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: { case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: {
mavlink_set_local_position_setpoint_t sp; mavlink_set_local_position_setpoint_t sp;

3
src/comm/MAVLinkSimulationMAV.h
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@ -36,6 +36,9 @@ protected:
double roll; double roll;
double pitch; double pitch;
double yaw; double yaw;
double rollspeed;
double pitchspeed;
double yawspeed;
bool globalNavigation; bool globalNavigation;
bool firstWP; bool firstWP;

132
src/comm/QGCFlightGearLink.cc
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@ -24,6 +24,7 @@ This file is part of the QGROUNDCONTROL project
/** /**
* @file * @file
* @brief Definition of UDP connection (server) for unmanned vehicles * @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> * @author Lorenz Meier <mavteam@student.ethz.ch>
* *
*/ */
@ -38,7 +39,9 @@ This file is part of the QGROUNDCONTROL project
#include <QHostInfo> #include <QHostInfo>
#include "MainWindow.h" #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->host = host;
this->port = port+mav->getUASID(); this->port = port+mav->getUASID();
@ -282,8 +285,15 @@ bool QGCFlightGearLink::disconnectSimulation()
delete process; delete process;
process = NULL; process = NULL;
} }
if (terraSync)
{
terraSync->close();
delete terraSync;
terraSync = NULL;
}
if (socket) if (socket)
{ {
socket->close();
delete socket; delete socket;
socket = NULL; socket = NULL;
} }
@ -309,6 +319,7 @@ bool QGCFlightGearLink::connectSimulation()
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes())); QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this); 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(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))); 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 // Catch process error
QObject::connect( process, SIGNAL(error(QProcess::ProcessError)), QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError))); this, SLOT(processError(QProcess::ProcessError)));
QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
this, SLOT(processError(QProcess::ProcessError)));
// Start Flightgear // Start Flightgear
QStringList processCall; QStringList processCall;
QString processFgfs; QString processFgfs;
QString processTerraSync;
QString fgRoot; QString fgRoot;
QString fgScenery; 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 #ifdef Q_OS_MACX
processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs"; processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
fgRoot = "--fg-root=/Applications/FlightGear.app/Contents/Resources/data"; processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/Scenery:/Applications/FlightGear.app/Contents/Resources/data/Scenery-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 #endif
#ifdef Q_OS_WIN32 #ifdef Q_OS_WIN32
processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs"; 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 #endif
#ifdef Q_OS_LINUX #ifdef Q_OS_LINUX
processFgfs = "fgfs"; processFgfs = "fgfs";
fgRoot = "--fg-root=/usr/share/flightgear/data"; fgRoot = "/usr/share/flightgear/data";
fgScenery = "/usr/share/flightgear/data/Scenery-Terrasync";
#endif #endif
processCall << fgRoot; // Sanity checks
processCall << fgScenery; bool sane = true;
processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port); QFileInfo executable(processFgfs);
processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort); 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 << "--in-air";
processCall << "--roll=0";
processCall << "--pitch=0";
processCall << "--vc=90"; processCall << "--vc=90";
processCall << "--heading=300"; processCall << "--heading=300";
processCall << "--timeofday=noon"; processCall << "--timeofday=noon";
processCall << "--disable-hud-3d"; processCall << "--disable-hud-3d";
processCall << "--disable-fullscreen"; processCall << "--disable-fullscreen";
// processCall << "--control=mouse"; processCall << "--geometry=400x300";
// processCall << "--disable-intro-music"; processCall << "--disable-anti-alias-hud";
// processCall << "--disable-sound"; processCall << "--wind=0@0";
// processCall << "--disable-anti-alias-hud"; processCall << "--turbulence=0.0";
// processCall << "--disable-random-objects"; processCall << "--prop:/sim/frame-rate-throttle-hz=30";
// processCall << "--disable-ai-models"; processCall << "--control=mouse";
// processCall << "--wind=0@0"; 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 << "--fdm=jsb";
processCall << "--prop:/engines/engine/running=true";
processCall << "--units-meters"; processCall << "--units-meters";
if (mav->getSystemType() == MAV_TYPE_QUADROTOR) 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[1]/running=true";
processCall << "--prop:/engines/engine[2]/running=true"; processCall << "--prop:/engines/engine[2]/running=true";
processCall << "--prop:/engines/engine[3]/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("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude()); processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude()); processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
// Add new argument with this: processCall << ""; // Add new argument with this: processCall << "";
processCall << QString("--aircraft=%2").arg(aircraft); 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); process->start(processFgfs, processCall);

1
src/comm/QGCFlightGearLink.h
Unescape View File

@ -109,6 +109,7 @@ protected:
QTimer refreshTimer; QTimer refreshTimer;
UASInterface* mav; UASInterface* mav;
QProcess* process; QProcess* process;
QProcess* terraSync;
void setName(QString name); void setName(QString name);

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