bool
GlideComputerAirData::FlightTimes(const NMEAInfo &basic,
const NMEAInfo &last_basic,
DerivedInfo &calculated,
const ComputerSettings &settings)
{
if (basic.gps.replay != last_basic.gps.replay)
// reset flight before/after replay logger
ResetFlight(calculated, basic.gps.replay);
if (basic.time_available && basic.HasTimeRetreatedSince(last_basic)) {
// 20060519:sgi added (basic.Time != 0) due to always return here
// if no GPS time available
if (basic.location_available)
// Reset statistics.. (probably due to being in IGC replay mode)
ResetFlight(calculated, false);
return false;
}
FlightState(basic, calculated, calculated.flight,
settings.polar.glide_polar_task);
return true;
}
void Ship::Load(Serializer::Reader &rd, Space *space)
{
DynamicBody::Load(rd, space);
// needs fixups
m_angThrusters = rd.Vector3d();
m_thrusters = rd.Vector3d();
m_wheelTransition = rd.Int32();
m_wheelState = rd.Float();
m_launchLockTimeout = rd.Float();
m_testLanded = rd.Bool();
m_flightState = FlightState(rd.Int32());
m_alertState = AlertState(rd.Int32());
m_lastFiringAlert = rd.Double();
m_hyperspace.dest = SystemPath::Unserialize(rd);
m_hyperspace.countdown = rd.Float();
for (int i=0; i<ShipType::GUNMOUNT_MAX; i++) {
m_gunState[i] = rd.Int32();
m_gunRecharge[i] = rd.Float();
m_gunTemperature[i] = rd.Float();
}
m_ecmRecharge = rd.Float();
m_shipFlavour.Load(rd);
m_type = &ShipType::types[m_shipFlavour.id];
m_dockedWithPort = rd.Int32();
m_dockedWithIndex = rd.Int32();
m_equipment.InitSlotSizes(m_shipFlavour.id);
m_equipment.Load(rd);
Init();
m_stats.hull_mass_left = rd.Float(); // must be after Init()...
m_stats.shield_mass_left = rd.Float();
if(rd.Int32()) m_curAICmd = AICommand::Load(rd);
else m_curAICmd = 0;
m_aiMessage = AIError(rd.Int32());
SetFuel(rd.Double());
m_stats.fuel_tank_mass_left = GetShipType().fuelTankMass * GetFuel();
m_reserveFuel = rd.Double();
UpdateStats(); // this is necessary, UpdateStats() in Ship::Init has wrong values of m_thrusterFuel after Load
m_controller = 0;
const ShipController::Type ctype = static_cast<ShipController::Type>(rd.Int32());
if (ctype == ShipController::PLAYER)
SetController(new PlayerShipController());
else
SetController(new ShipController());
m_controller->Load(rd);
m_equipment.onChange.connect(sigc::mem_fun(this, &Ship::OnEquipmentChange));
}
void Ship::Load(Serializer::Reader &rd)
{
DynamicBody::Load(rd);
// needs fixups
m_angThrusters = rd.Vector3d();
m_thrusters = rd.Vector3d();
m_wheelTransition = rd.Int32();
m_wheelState = rd.Float();
m_launchLockTimeout = rd.Float();
m_testLanded = rd.Bool();
m_flightState = FlightState(rd.Int32());
m_alertState = AlertState(rd.Int32());
m_lastFiringAlert = rd.Float();
m_hyperspace.dest = SystemPath::Unserialize(rd);
m_hyperspace.countdown = rd.Float();
for (int i=0; i<ShipType::GUNMOUNT_MAX; i++) {
m_gunState[i] = rd.Int32();
m_gunRecharge[i] = rd.Float();
m_gunTemperature[i] = rd.Float();
}
m_ecmRecharge = rd.Float();
m_shipFlavour.Load(rd);
m_dockedWithPort = rd.Int32();
m_dockedWithIndex = rd.Int32();
m_equipment.InitSlotSizes(m_shipFlavour.type);
m_equipment.Load(rd);
Init();
m_stats.hull_mass_left = rd.Float(); // must be after Init()...
m_stats.shield_mass_left = rd.Float();
if(rd.Int32()) m_curAICmd = AICommand::Load(rd);
else m_curAICmd = 0;
m_equipment.onChange.connect(sigc::mem_fun(this, &Ship::OnEquipmentChange));
}
void RocketSystem::update() {
//static int time = 0;
//if (time % 1000 == 0) {
// chprintf((BaseSequentialStream*)&SD4, "%d\r\n", RTT2MS(chibios_rt::System::getTime()));
//}
//time = (time+1) % 1000;
// Poll sensors
AccelerometerReading accelReading = accel.readAccel();
GyroscopeReading gyrReading = gyr.readGyro();
optional<AccelerometerReading> accelHReading;
optional<BarometerReading> barReading;
optional<GeigerReading> ggrReading;
optional<GPSReading> gpsReading;
optional<MagnetometerReading> magReading;
if (accelH) accelHReading = (*accelH)->readAccel();
if (bar) barReading = (*bar)->readBar();
if (ggr) ggrReading = (*ggr)->readGeiger();
if (gps) gpsReading = (*gps)->readGPS();
if (mag) magReading = (*mag)->readMag();
SensorMeasurements meas {
.accel = std::experimental::make_optional(accelReading),
.accelH = accelHReading,
.bar = barReading,
.ggr = ggrReading,
.gps = gpsReading,
.gyro = std::experimental::make_optional(gyrReading),
.mag = magReading
};
// Update the world estimate
WorldEstimate estimate = estimator.update(meas);
// Run the controllers
ActuatorSetpoint actuatorSp = {0,0,0,0};
// Run state machine
switch (state) {
case RocketState::DISARMED:
state = DisarmedState(meas, estimate, actuatorSp);
break;
case RocketState::PRE_ARM:
state = PreArmState(meas, estimate, actuatorSp);
break;
case RocketState::ARMED:
state = ArmedState(meas, estimate, actuatorSp);
break;
case RocketState::FLIGHT:
state = FlightState(meas, estimate, actuatorSp);
break;
case RocketState::APOGEE:
state = ApogeeState(meas, estimate, actuatorSp);
break;
case RocketState::DESCENT:
state = DescentState(meas, estimate, actuatorSp);
break;
case RocketState::RECOVERY:
state = RecoveryState(meas, estimate, actuatorSp);
break;
default:
break;
}
// Update motor outputs
motorMapper.run(isArmed(), actuatorSp);
// Poll for controller input
ControllerInput input = inputSource.read();
// Update streams
updateStreams(meas, estimate, actuatorSp);
}
