void FileParser::SearchFiles() { QDir directoryToStart(path); FindFilesFromDir(directoryToStart); emit Started(FileAmount()); GetGPSData(); }
/**************************************************************************** Function importData Description moves the sensors current measurement information locally for loading ****************************************************************************/ static void importData(Sensor s) { switch(s) { case Wind : CV7 = GetWindData(); break; case Distance : lidarData = getLidarData(); break; case GPS : GPSdata = GetGPSData(); break; case Compass : compassData = getCompassData(); break; } }
void msgCheckSum(unsigned char rxChar) { ck_in_b = rxChar; if((ck_in_a == ck_calc_a) && (ck_in_b == ck_calc_b)) { memcpy(SERVO_IN,SERVO_IN_,sizeof(SERVO_IN_)); GPSCount++; if (GPSCount % 10 == 0) { GetGPSData(); GPSCount = 0; } } msg_parse = &msgDefault; }
float GetBodyRates(float elapsedMe, float elapsedSim, int counter, void* refcon) { (void)elapsedSim; (void)counter; (void)refcon; pendingElapsedTime += elapsedMe; ReceiveFromComPort(); if (pendingElapsedTime < 0.025) // Don't run faster than 40Hz { return -1; } union intbb Temp2; float phi, theta, psi; float alpha, beta; float P_flight, Q_flight, R_flight; float ax, ay, az; float gravity_acceleration_x, gravity_acceleration_y, gravity_acceleration_z; // Angular rates in X-Plane are specified relative to the flight path, not to the aircraft, // for reasons unknown. So that means we need to rotate by alpha and beta to get angular rates // in the aircraft body frame, which is what the UDB measures. // Retrieve rates and slip angles, and convert to radians P_flight = XPLMGetDataf(drP) / 180 * PI; Q_flight = XPLMGetDataf(drQ) / 180 * PI; R_flight = XPLMGetDataf(drR) / 180 * PI; alpha = XPLMGetDataf(drAlpha) / 180 * PI; beta = XPLMGetDataf(drBeta) / 180 * PI; // On 25th Jan 2015, Bill Premerlani confirmed with Austin Meyer, author of X-Plane // that P, Q and R are rotations in the body frame. So they do not need to be rotated into // any other frame of reference, other than a small sign correction for the UDB frame conventions. // Austin Meyer said: "now, i CAN say that P is roll, Q is pitch, and R is yaw, all in degrees per second //about the aircraft axis,..... (i just looked at the code to confirm this)" P_plane = P_flight; Q_plane = -Q_flight; // convert from NED to UDB R_plane = R_flight; // Angular rate // multiply by 5632 (constant from UDB code) // Divide by SCALEGYRO(3.0 for red board) // 1 * 5632 / 3.0 = 1877.33 Temp2.BB = (int)(P_plane * 1877.33); Store2LE(&NAV_BODYRATES[6], Temp2); Temp2.BB = (int)(Q_plane * 1877.33); Store2LE(&NAV_BODYRATES[8], Temp2); Temp2.BB = (int)(R_plane * 1877.33); Store2LE(&NAV_BODYRATES[10], Temp2); // Our euler angles: // X-Plane angles are in degrees. // Phi is roll, roll to right is positive // Theta is pitch, pitch up is positive // Psi is yaw, relative to north. North is 0/360. // Convert these angles to radians first. phi = (float)((XPLMGetDataf(drPhi) / 180) * PI); theta = (float)((XPLMGetDataf(drTheta) / 180) * PI); psi = (float)((XPLMGetDataf(drPsi) / 180) * PI); // set up a vertical reference for the plotting computations // vertical in earth frame: ax = 0; ay = -(float)9.8; az = 0; // get the acceleration loading (gravity-acceleration) in the body frame in "g"s, // and convert to meter/sec/sec // x, y, and z are "UDB" coordinates, x is left wing, y is forward, and z is down. gravity_acceleration_x = (float)((XPLMGetDataf(drg_side)) * 9.8); gravity_acceleration_y = (float)((XPLMGetDataf(drg_axil)) * 9.8); gravity_acceleration_z = (float)((XPLMGetDataf(drg_nrml)) * 9.8); // Convert from OGL frame to Aircraft body fixed frame // This produces a vertical reference in body frame OGLtoBCBF(ax, ay, az, phi, theta, psi); ax_plane = ax; ay_plane = -ay; // convert from NED to UDB az_plane = az; // Lastly we need to convert from X-Plane units (m/s^2) to the arbitrary units used by the UDB // Accelerations are in m/s^2 // Divide by 9.8 to get g's // Multiply by 5280 (constant from UDB code) // Divide by SCALEACCEL (2.64 for red board) // 1 / 9.8 * 5280 / 2.64 = 204.8 Temp2.BB = (int)(gravity_acceleration_x * 204.8); Store2LE(&NAV_BODYRATES[12], Temp2); Temp2.BB = (int)(gravity_acceleration_y * 204.8); Store2LE(&NAV_BODYRATES[14], Temp2); Temp2.BB = (int)(gravity_acceleration_z * 204.8); Store2LE(&NAV_BODYRATES[16], Temp2); CalculateChecksum(NAV_BODYRATES); SendToComPort(sizeof(NAV_BODYRATES), NAV_BODYRATES); while (pendingElapsedTime >= 0.025) // Don't run slower than 40Hz { GPSCount++; if (!IsConnected()) { ConnectionCount++; if (ConnectionCount % 160 == 0) // attempt reconnection every 4 seconds when disconnected { AttemptConnection(); ConnectionCount = 0; } } if (GPSCount % 10 == 0) { GetGPSData(); GPSCount = 0; } pendingElapsedTime -= (float)0.025; } ServosToControls(); // float ThrottleSetting = 0; //SurfaceDeflections[CHANNEL_THROTTLE]; // float throttle[8] = {ThrottleSetting, ThrottleSetting, ThrottleSetting, ThrottleSetting, // ThrottleSetting, ThrottleSetting, ThrottleSetting, ThrottleSetting}; XPLMSetDatavf(drThro, ThrottleSettings, 0, 8); static float prevBrakeSetting = PARKBRAKE_ON; if (BrakeSetting != prevBrakeSetting) { prevBrakeSetting = BrakeSetting; XPLMSetDataf(drBrake, BrakeSetting); // LoggingFile.mLogFile << "Set parkbrake to " << BrakeSetting << endl; } return -1; // get called back on every frame }