コード例 #1
0
ファイル: SITL_State.cpp プロジェクト: HackInvent/ardupilot
/*
  output current state to flightgear
 */
void SITL_State::_output_to_flightgear(void)
{
    SITL::FGNetFDM fdm {};
    const SITL::sitl_fdm &sfdm = _sitl->state;

    fdm.version = 0x18;
    fdm.padding = 0;
    fdm.longitude = radians(sfdm.longitude);
    fdm.latitude = radians(sfdm.latitude);
    fdm.altitude = sfdm.altitude;
    fdm.agl = sfdm.altitude;
    fdm.phi   = radians(sfdm.rollDeg);
    fdm.theta = radians(sfdm.pitchDeg);
    fdm.psi   = radians(sfdm.yawDeg);
    if (_vehicle == ArduCopter) {
        fdm.num_engines = 4;
        for (uint8_t i=0; i<4; i++) {
            fdm.rpm[i] = constrain_float((pwm_output[i]-1000), 0, 1000);
        }
    } else {
        fdm.num_engines = 4;
        fdm.rpm[0] = constrain_float((pwm_output[2]-1000)*3, 0, 3000);
        // for quadplane
        fdm.rpm[1] = constrain_float((pwm_output[5]-1000)*12, 0, 12000);
        fdm.rpm[2] = constrain_float((pwm_output[6]-1000)*12, 0, 12000);
        fdm.rpm[3] = constrain_float((pwm_output[7]-1000)*12, 0, 12000);
    }
    fdm.ByteSwap();

    fg_socket.send(&fdm, sizeof(fdm));
}
コード例 #2
0
ファイル: SITL_State.cpp プロジェクト: akkatracker/ardupilot
/*
  output current state to flightgear
 */
void SITL_State::_output_to_flightgear(void)
{
    SITL::FGNetFDM fdm {};
    const SITL::sitl_fdm &sfdm = _sitl->state;

    fdm.version = 0x18;
    fdm.padding = 0;
    fdm.longitude = radians(sfdm.longitude);
    fdm.latitude = radians(sfdm.latitude);
    fdm.altitude = sfdm.altitude;
    fdm.agl = sfdm.altitude;
    fdm.phi   = radians(sfdm.rollDeg);
    fdm.theta = radians(sfdm.pitchDeg);
    fdm.psi   = radians(sfdm.yawDeg);
    fdm.ByteSwap();

    fg_socket.send(&fdm, sizeof(fdm));
}