int main (int argc, char **argv)
{
ros::init (argc, argv, "autopilot");
ros::NodeHandle nh;
ros::NodeHandle nh_private("~");
asctec::AutoPilot autopilot(nh, nh_private);
ros::spin ();
return 0;
}
void numerical_dynamics (void)
// This is the function that performs the numerical integration to update the
// lander's pose. The time step is delta_t (global variable).
{
// INSERT YOUR CODE HERE
if(infinite_fuel) fuel = 1;
double lander_mass = UNLOADED_LANDER_MASS + (fuel * FUEL_CAPACITY * FUEL_DENSITY);
vector3d acceleration = -GRAVITY * MARS_MASS * (position.norm() / position.abs2());
vector3d lander_drag = -0.5*DRAG_COEF_LANDER*atmospheric_density(position)*M_PI*LANDER_SIZE*LANDER_SIZE*velocity.abs2()*velocity.norm();
if (parachute_status == DEPLOYED)
{
vector3d parachute_drag = -0.5*DRAG_COEF_CHUTE*atmospheric_density(position)*5.0*2.0*LANDER_SIZE*2.0*LANDER_SIZE*velocity.abs2()*velocity.norm();
lander_drag = lander_drag + parachute_drag;
}
acceleration = acceleration + ((lander_drag + thrust_wrt_world()) / lander_mass);
if (!update_first_pos)
{
previous_position = position;
position = previous_position + velocity * delta_t;
velocity = velocity + acceleration * delta_t;
update_first_pos = true;
}
else
{
vector3d temp = position;
position = (2 * position) - previous_position + (delta_t * delta_t * acceleration);
previous_position = temp;
velocity = (1 / delta_t) * (position - previous_position);
}
// Here we can apply an autopilot to adjust the thrust, parachute and attitude
if (autopilot_enabled) autopilot();
// Here we can apply 3-axis stabilization to ensure the base is always pointing downwards
if (stabilized_attitude) attitude_stabilization();
}
TestFlightResult
run_flight(TestFlightComponents components, TaskManager &task_manager,
const AutopilotParameters &parms, const int n_wind,
const double speed_factor)
{
AircraftStateFilter *aircraft_filter = components.aircraft_filter;
Airspaces *airspaces = components.airspaces;
TestFlightResult result;
TaskAccessor ta(task_manager, fixed_300);
PrintTaskAutoPilot autopilot(parms);
AircraftSim aircraft;
autopilot.SetDefaultLocation(GeoPoint(Angle::Degrees(1), Angle::Degrees(0)));
unsigned print_counter=0;
if (n_wind)
aircraft.SetWind(wind_to_mag(n_wind), wind_to_dir(n_wind));
autopilot.SetSpeedFactor(fixed(speed_factor));
Directory::Create(_T("output/results"));
std::ofstream f4("output/results/res-sample.txt");
std::ofstream f5("output/results/res-sample-filtered.txt");
bool do_print = verbose;
bool first = true;
static const fixed fixed_10(10);
const AirspaceAircraftPerformance perf(task_manager.GetGlidePolar());
if (aircraft_filter)
aircraft_filter->Reset(aircraft.GetState());
autopilot.Start(ta);
aircraft.Start(autopilot.location_start, autopilot.location_previous,
parms.start_alt);
AirspaceWarningManager *airspace_warnings;
if (airspaces) {
airspace_warnings = new AirspaceWarningManager(*airspaces);
airspace_warnings->Reset(aircraft.GetState());
} else {
airspace_warnings = NULL;
}
do {
if ((task_manager.GetActiveTaskPointIndex() == 1) &&
first && (task_manager.GetStats().total.time_elapsed > fixed_10)) {
result.time_remaining = (double)task_manager.GetStats().total.time_remaining_now;
first = false;
result.time_planned = (double)task_manager.GetStats().total.time_planned;
if (verbose > 1) {
printf("# time remaining %g\n", result.time_remaining);
printf("# time planned %g\n", result.time_planned);
}
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, aircraft.GetState());
const AircraftState state = aircraft.GetState();
f4 << state.time << " "
<< state.location.longitude << " "
<< state.location.latitude << " "
<< state.altitude << "\n";
f4.flush();
if (aircraft_filter) {
f5 << aircraft_filter->GetSpeed() << " "
<< aircraft_filter->GetBearing() << " "
<< aircraft_filter->GetClimbRate() << "\n";
f5.flush();
}
}
if (airspaces) {
scan_airspaces(aircraft.GetState(), *airspaces, perf,
do_print,
autopilot.GetTarget(ta));
}
if (airspace_warnings) {
if (verbose > 1) {
bool warnings_updated = airspace_warnings->Update(aircraft.GetState(),
task_manager.GetGlidePolar(),
task_manager.GetStats(),
false, 1);
if (warnings_updated) {
printf("# airspace warnings updated, size %d\n",
(int)airspace_warnings->size());
print_warnings(*airspace_warnings);
WaitPrompt();
}
}
}
n_samples++;
do_print = (++print_counter % output_skip == 0) && verbose;
if (aircraft_filter)
aircraft_filter->Update(aircraft.GetState());
autopilot.UpdateState(ta, aircraft.GetState());
aircraft.Update(autopilot.heading);
{
const AircraftState state = aircraft.GetState();
const AircraftState state_last = aircraft.GetLastState();
task_manager.Update(state, state_last);
task_manager.UpdateIdle(state);
task_manager.UpdateAutoMC(state, fixed(0));
}
} while (autopilot.UpdateAutopilot(ta, aircraft.GetState()));
if (verbose) {
PrintHelper::taskmanager_print(task_manager, aircraft.GetState());
const AircraftState state = aircraft.GetState();
f4 << state.time << " "
<< state.location.longitude << " "
<< state.location.latitude << " "
<< state.altitude << "\n";
f4 << "\n";
f4.flush();
task_report(task_manager, "end of task\n");
}
WaitPrompt();
result.time_elapsed = (double)task_manager.GetStats().total.time_elapsed;
result.time_planned = (double)task_manager.GetStats().total.time_planned;
result.calc_cruise_efficiency = (double)task_manager.GetStats().cruise_efficiency;
result.calc_effective_mc = (double)task_manager.GetStats().effective_mc;
if (verbose)
PrintDistanceCounts();
if (airspace_warnings)
delete airspace_warnings;
result.result = true;
return result;
}
// It all starts here:
int main(void) {
// start with default user settings in case there's nothing in eeprom
default_user_settings();
// try to load settings from eeprom
read_user_settings_from_eeprom();
// set our LED as a digital output
lib_digitalio_initpin(LED1_OUTPUT,DIGITALOUTPUT);
//initialize the libraries that require initialization
lib_timers_init();
lib_i2c_init();
// pause a moment before initializing everything. To make sure everything is powered up
lib_timers_delaymilliseconds(100);
// initialize all other modules
init_rx();
init_outputs();
serial_init();
init_gyro();
init_acc();
init_baro();
init_compass();
init_gps();
init_imu();
// set the default i2c speed to 400 KHz. If a device needs to slow it down, it can, but it should set it back.
lib_i2c_setclockspeed(I2C_400_KHZ);
// initialize state
global.state.armed=0;
global.state.calibratingCompass=0;
global.state.calibratingAccAndGyro=0;
global.state.navigationMode=NAVIGATION_MODE_OFF;
global.failsafeTimer=lib_timers_starttimer();
// run loop
for(;;) {
// check to see what switches are activated
check_checkbox_items();
// check for config program activity
serial_check_for_action();
calculate_timesliver();
// run the imu to estimate the current attitude of the aircraft
imu_calculate_estimated_attitude();
// arm and disarm via rx aux switches
if (global.rxValues[THROTTLE_INDEX]<FPSTICKLOW) { // see if we want to change armed modes
if (!global.state.armed) {
if (global.activeCheckboxItems & CHECKBOX_MASK_ARM) {
global.state.armed=1;
#if (GPS_TYPE!=NO_GPS)
navigation_set_home_to_current_location();
#endif
global.home.heading=global.currentEstimatedEulerAttitude[YAW_INDEX];
global.home.location.altitude=global.baroRawAltitude;
}
} else if (!(global.activeCheckboxItems & CHECKBOX_MASK_ARM)) global.state.armed=0;
}
#if (GPS_TYPE!=NO_GPS)
// turn on or off navigation when appropriate
if (global.state.navigationMode==NAVIGATION_MODE_OFF) {
if (global.activeCheckboxItems & CHECKBOX_MASK_RETURNTOHOME) { // return to home switch turned on
navigation_set_destination(global.home.location.latitude,global.home.location.longitude);
global.state.navigationMode=NAVIGATION_MODE_RETURN_TO_HOME;
} else if (global.activeCheckboxItems & CHECKBOX_MASK_POSITIONHOLD) { // position hold turned on
navigation_set_destination(global.gps.currentLatitude,global.gps.currentLongitude);
global.state.navigationMode=NAVIGATION_MODE_POSITION_HOLD;
}
} else { // we are currently navigating
// turn off navigation if desired
if ((global.state.navigationMode==NAVIGATION_MODE_RETURN_TO_HOME && !(global.activeCheckboxItems & CHECKBOX_MASK_RETURNTOHOME)) || (global.state.navigationMode==NAVIGATION_MODE_POSITION_HOLD && !(global.activeCheckboxItems & CHECKBOX_MASK_POSITIONHOLD))) {
global.state.navigationMode=NAVIGATION_MODE_OFF;
// we will be turning control back over to the pilot.
reset_pilot_control();
}
}
#endif
// read the receiver
read_rx();
// turn on the LED when we are stable and the gps has 5 satelites or more
#if (GPS_TYPE==NO_GPS)
lib_digitalio_setoutput(LED1_OUTPUT, (global.state.stable==0)==LED1_ON);
#else
lib_digitalio_setoutput(LED1_OUTPUT, (!(global.state.stable && global.gps.numSatelites>=5))==LED1_ON);
#endif
// get the angle error. Angle error is the difference between our current attitude and our desired attitude.
// It can be set by navigation, or by the pilot, etc.
fixedpointnum angleError[3];
// let the pilot control the aircraft.
get_angle_error_from_pilot_input(angleError);
#if (GPS_TYPE!=NO_GPS)
// read the gps
unsigned char gotNewGpsReading=read_gps();
// if we are navigating, use navigation to determine our desired attitude (tilt angles)
if (global.state.navigationMode!=NAVIGATION_MODE_OFF) { // we are navigating
navigation_set_angle_error(gotNewGpsReading,angleError);
}
#endif
if (global.rxValues[THROTTLE_INDEX]<FPSTICKLOW) {
// We are probably on the ground. Don't accumnulate error when we can't correct it
reset_pilot_control();
// bleed off integrated error by averaging in a value of zero
lib_fp_lowpassfilter(&global.integratedAngleError[ROLL_INDEX],0L,global.timesliver>>TIMESLIVEREXTRASHIFT,FIXEDPOINTONEOVERONEFOURTH,0);
lib_fp_lowpassfilter(&global.integratedAngleError[PITCH_INDEX],0L,global.timesliver>>TIMESLIVEREXTRASHIFT,FIXEDPOINTONEOVERONEFOURTH,0);
lib_fp_lowpassfilter(&global.integratedAngleError[YAW_INDEX],0L,global.timesliver>>TIMESLIVEREXTRASHIFT,FIXEDPOINTONEOVERONEFOURTH,0);
}
#ifndef NO_AUTOTUNE
// let autotune adjust the angle error if the pilot has autotune turned on
if (global.activeCheckboxItems & CHECKBOX_MASK_AUTOTUNE) {
if (!(global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOTUNE)) {
autotune(angleError,AUTOTUNE_STARTING); // tell autotune that we just started autotuning
} else {
autotune(angleError,AUTOTUNE_TUNING); // tell autotune that we are in the middle of autotuning
}
} else if (global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOTUNE) {
autotune(angleError,AUTOTUNE_STOPPING); // tell autotune that we just stopped autotuning
}
#endif
// This gets reset every loop cycle
// keep a flag to indicate whether we shoud apply altitude hold. The pilot can turn it on or
// uncrashability/autopilot mode can turn it on.
global.state.altitudeHold=0;
if (global.activeCheckboxItems & CHECKBOX_MASK_ALTHOLD) {
global.state.altitudeHold=1;
if (!(global.previousActiveCheckboxItems & CHECKBOX_MASK_ALTHOLD)) {
// we just turned on alt hold. Remember our current alt. as our target
global.altitudeHoldDesiredAltitude=global.altitude;
global.integratedAltitudeError=0;
}
}
fixedpointnum throttleOutput;
#ifndef NO_AUTOPILOT
// autopilot is available
if (global.activeCheckboxItems & CHECKBOX_MASK_AUTOPILOT) {
if (!(global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOPILOT)) {
// let autopilot know to transition to the starting state
autopilot(AUTOPILOT_STARTING);
} else {
// autopilot normal run state
autopilot(AUTOPILOT_RUNNING);
}
} else if (global.previousActiveCheckboxItems & CHECKBOX_MASK_AUTOPILOT) {
// tell autopilot that we just stopped autotuning
autopilot(AUTOPILOT_STOPPING);
} else {
// get the pilot's throttle component
// convert from fixedpoint -1 to 1 to fixedpoint 0 to 1
throttleOutput=(global.rxValues[THROTTLE_INDEX]>>1)+FIXEDPOINTCONSTANT(.5)+FPTHROTTLETOMOTOROFFSET;
}
#else
// get the pilot's throttle component
// convert from fixedpoint -1 to 1 to fixedpoint 0 to 1
throttleOutput=(global.rxValues[THROTTLE_INDEX]>>1)+FIXEDPOINTCONSTANT(.5)+FPTHROTTLETOMOTOROFFSET;
#endif
#ifndef NO_UNCRASHABLE
uncrashable(gotNewGpsReading,angleError,&throttleOutput);
#endif
#if (BAROMETER_TYPE!=NO_BAROMETER)
// check for altitude hold and adjust the throttle output accordingly
if (global.state.altitudeHold) {
global.integratedAltitudeError+=lib_fp_multiply(global.altitudeHoldDesiredAltitude-global.altitude,global.timesliver);
lib_fp_constrain(&global.integratedAltitudeError,-INTEGRATED_ANGLE_ERROR_LIMIT,INTEGRATED_ANGLE_ERROR_LIMIT); // don't let the integrated error get too high
// do pid for the altitude hold and add it to the throttle output
throttleOutput+=lib_fp_multiply(global.altitudeHoldDesiredAltitude-global.altitude,settings.pid_pgain[ALTITUDE_INDEX])-lib_fp_multiply(global.altitudeVelocity,settings.pid_dgain[ALTITUDE_INDEX])+lib_fp_multiply(global.integratedAltitudeError,settings.pid_igain[ALTITUDE_INDEX]);
}
#endif
#ifndef NO_AUTOTHROTTLE
if ((global.activeCheckboxItems & CHECKBOX_MASK_AUTOTHROTTLE) || global.state.altitudeHold) {
if (global.estimatedDownVector[Z_INDEX]>FIXEDPOINTCONSTANT(.3)) {
// Divide the throttle by the throttleOutput by the z component of the down vector
// This is probaly the slow way, but it's a way to do fixed point division
fixedpointnum recriprocal=lib_fp_invsqrt(global.estimatedDownVector[Z_INDEX]);
recriprocal=lib_fp_multiply(recriprocal,recriprocal);
throttleOutput=lib_fp_multiply(throttleOutput-AUTOTHROTTLE_DEAD_AREA,recriprocal)+AUTOTHROTTLE_DEAD_AREA;
}
}
#endif
#ifndef NO_FAILSAFE
// if we don't hear from the receiver for over a second, try to land safely
if (lib_timers_gettimermicroseconds(global.failsafeTimer)>1000000L) {
throttleOutput=FPFAILSAFEMOTOROUTPUT;
// make sure we are level!
angleError[ROLL_INDEX]=-global.currentEstimatedEulerAttitude[ROLL_INDEX];
angleError[PITCH_INDEX]=-global.currentEstimatedEulerAttitude[PITCH_INDEX];
}
#endif
// calculate output values. Output values will range from 0 to 1.0
// calculate pid outputs based on our angleErrors as inputs
fixedpointnum pidOutput[3];
// Gain Scheduling essentialy modifies the gains depending on
// throttle level. If GAIN_SCHEDULING_FACTOR is 1.0, it multiplies PID outputs by 1.5 when at full throttle,
// 1.0 when at mid throttle, and .5 when at zero throttle. This helps
// eliminate the wobbles when decending at low throttle.
fixedpointnum gainSchedulingMultiplier=lib_fp_multiply(throttleOutput-FIXEDPOINTCONSTANT(.5),FIXEDPOINTCONSTANT(GAIN_SCHEDULING_FACTOR))+FIXEDPOINTONE;
for (int x=0;x<3;++x) {
global.integratedAngleError[x]+=lib_fp_multiply(angleError[x],global.timesliver);
// don't let the integrated error get too high (windup)
lib_fp_constrain(&global.integratedAngleError[x],-INTEGRATED_ANGLE_ERROR_LIMIT,INTEGRATED_ANGLE_ERROR_LIMIT);
// do the attitude pid
pidOutput[x]=lib_fp_multiply(angleError[x],settings.pid_pgain[x])-lib_fp_multiply(global.gyrorate[x],settings.pid_dgain[x])+(lib_fp_multiply(global.integratedAngleError[x],settings.pid_igain[x])>>4);
// add gain scheduling.
pidOutput[x]=lib_fp_multiply(gainSchedulingMultiplier,pidOutput[x]);
}
lib_fp_constrain(&throttleOutput,0,FIXEDPOINTONE); // Keep throttle output between 0 and 1
compute_mix(throttleOutput, pidOutput); // aircraft type dependent mixes
#if (NUM_SERVOS>0)
// do not update servos during unarmed calibration of sensors which are sensitive to vibration
if (global.state.armed || (!global.state.calibratingAccAndGyro)) write_servo_outputs();
#endif
write_motor_outputs();
}
int main(void)
{
int sock, sock2;
struct sockaddr_in echoclient,from, ctrlclient, ctrlinclient;
unsigned int echolen, clientlen;
int received = 0;
FGNetFDM buf;
char* buffer = (char*)&buf;
FGNetCtrls bufctrl;
char* buffer_ctrl = (char*)&bufctrl;
struct known_state state;
struct known_state old_state;
struct known_state_ints state_ints;
struct known_state_ints old_state_ints;
srand ( time(NULL) );
memset(&state, 0, sizeof(state));
memset(&old_state, 0, sizeof(state));
memset(&state_ints, 0, sizeof(state_ints));
memset(&old_state_ints, 0, sizeof(state_ints));
/* Create the UDP socket */
if ((sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) < 0) {
std::cerr << "Failed to create socket" << std::endl;
perror("socket");
return -1;
}
if ((sock2 = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) < 0) {
std::cerr << "Failed to create socket" << std::endl;
perror("socket");
return -1;
}
/// the port where net fdm is received
memset(&echoclient, 0, sizeof(echoclient)); /* Clear struct */
echoclient.sin_family = AF_INET; /* Internet/IP */
echoclient.sin_addr.s_addr = inet_addr("127.0.0.1"); /* IP address */
echoclient.sin_port = htons(5500); /* server port */
/// the port where the modified net ctrl is sent to flightgear
memset(&ctrlclient, 0, sizeof(ctrlclient)); /* Clear struct */
ctrlclient.sin_family = AF_INET; /* Internet/IP */
ctrlclient.sin_addr.s_addr = inet_addr("127.0.0.1"); /* IP address */
ctrlclient.sin_port = htons(5600); /* server port */
/// this is the port where the net ctrl comes from flight gear
memset(&ctrlinclient, 0, sizeof(ctrlinclient)); /* Clear struct */
ctrlinclient.sin_family = AF_INET; /* Internet/IP */
ctrlinclient.sin_addr.s_addr = inet_addr("127.0.0.1"); /* IP address */
ctrlinclient.sin_port = htons(5700); /* server port */
int length = sizeof(buf);
std::cout << "packet length should be " << length << " bytes" << std::endl;
echolen = length;
char errorbuf[100];
/// need this?
int ret = bind(sock, (struct sockaddr*)&echoclient, sizeof(echoclient) );
int ret2 = bind(sock2, (struct sockaddr*)&ctrlinclient, sizeof(ctrlinclient) );
std::cout << "bind " << ret << " " << ret2 << std::endl;
///////////////////////////////////////////////////////////////////
std::string file = "telemetry.csv";
std::ofstream telem(file.c_str(), std::ios_base::out );
if (!telem) {
std::cout << "File \"" << file << "\" not found.\n";
throw fileNotFound();
return 2;
}
telem.precision(10);
telem <<
"longitude, latitude, altitude" <<
"p, q, r," <<
"elevator, rudder, aileron" <<
std::endl;
//std::string binfile = "sim_telemetry.bin";
//std::ofstream myFile(binfile, std::ios::out | std::ios::binary);
double time = 0.0;
float dist = 40e3; //state.altitude;
float div = 3e7;
double target_longitude = -2.137;
double target_latitude = .658;
double target_altitude = 50.0; //meters
std::cout << "struct size " << sizeof(state) << std::endl;
FILE* telem_file;
telem_file = fopen("telem.bin","wb");
int i = 0;
while(1) {
i++;
// I think this clobbers echoclient
/// receive net_fdm over udp
received = recvfrom(sock, buffer, sizeof(buf), 0,
(struct sockaddr *) &from,
&echolen);
/// -extract accelerations A_X_pilot etc, add noise
/// - are phidot, thetadot, psidot in body frame? Probably
/// (I thought someone told me there was no difference, but that doesn't
/// make sense- what if the vehicle was 90 degrees up from normal, how is
/// roll still roll?)
/// - take position lat long alt, but filter so it is only updated at a few Hz
/// and that's all we'll know
FGNetFDM2Props( &buf);
if (i == 1) {
target_longitude = buf.longitude + (float)(rand()%(int)dist)/div - dist/div*0.5;
target_latitude = buf.latitude + (float)(rand()%(int)dist)/div - dist/div*0.5;
std::cout << "t longitude=" << target_longitude << ", t latitude=" << target_latitude << std::endl;
}
if (i%10 == 0) {
state.longitude= (float)((int)(180e4/M_PI*buf.longitude))/(180e4/M_PI);;
state.latitude = (float)((int)(180e4/M_PI*buf.latitude))/(180e4/M_PI);
state.altitude = buf.altitude*M2FT;
} else {
state.longitude= old_state.longitude;
state.latitude = old_state.latitude;
state.altitude = old_state.altitude;
}
state.p = FPFIX(buf.p);
state.q = FPFIX(buf.q);
state.r = FPFIX(buf.r);
state.A_X_pilot = FPFIX(buf.A_X_pilot);
state.A_Y_pilot = FPFIX(buf.A_Y_pilot);
state.A_Z_pilot = FPFIX(buf.A_Z_pilot);
state.target_long= target_longitude;
state.target_lat = target_latitude;
state.target_alt = target_altitude;
#if 0
/// fixed point version
if (j%10 == 0) {
/// convert to arc-minutes
state_ints.longitude = float_to_fixed(180.0*60.0/M_PI*buf.longitude);
state_ints.latitude = float_to_fixed(180.0*60.0/M_PI*buf.latitude);
/// convert to feet later?
state_ints.altitude = (int)(buf.altitude);
/// TEMP
/// alternate way of getting velocity- this one matches the sim
double x1 = (EARTH_RADIUS_METERS+state.altitude)*cos(state.latitude)*cos(state.longitude);
double y1 = (EARTH_RADIUS_METERS+state.altitude)*cos(state.latitude)*sin(state.longitude);
double z1 = (EARTH_RADIUS_METERS+state.altitude)*sin(state.latitude);
double x2 = (EARTH_RADIUS_METERS+old_state.altitude)*cos(old_state.latitude)*cos(old_state.longitude);
double y2 = (EARTH_RADIUS_METERS+old_state.altitude)*cos(old_state.latitude)*sin(old_state.longitude);
double z2 = (EARTH_RADIUS_METERS+old_state.altitude)*sin(old_state.latitude);
// delta xyz to target
double xt = (EARTH_RADIUS_METERS+target_altitude)*cos(target_latitude)*cos(target_longitude);
double yt = (EARTH_RADIUS_METERS+target_altitude)*cos(target_latitude)*sin(target_longitude);
double zt = (EARTH_RADIUS_METERS+target_altitude)*sin(target_latitude);
double dx = (x1-x2);
double dy = (y1-y2);
double dz = (z1-z2);
// length of vector pointing from old location to current
float l1 = sqrtf(dx*dx + dy*dy + dz*dz);
/// length of vector point straight at center of earth
double l2 = sqrtf(x2*x2 + y2*y2 + z2*z2);
std::cout << "velocity correct " << l1
<< ", dx " << (dx);
// << ", radius " << EARTH_RADIUS_METERS
// << ", coslat " << cos(state.latitude)*cos(state.longitude);
//<< ", dy " << (y1)
//<< ", dz " << (z1);
/*
double dotprod = (
(dx/l1 * (-x2)/l2) +
(dy/l1 * (-y2)/l2) +
(dz/l1 * (-z2)/l2) );
state.pitch = acos(dotprod)/M_PI -0.5;
*/
}
j++;
state_ints.target_long= float_to_fixed(target_longitude);
state_ints.target_lat = float_to_fixed(target_latitude);
state_ints.target_alt = float_to_fixed(target_altitude);
state_ints.p = float_to_fixed(buf.p);
state_ints.q = float_to_fixed(buf.q);
state_ints.r = float_to_fixed(buf.r);
state_ints.A_X_pilot = float_to_fixed(buf.A_X_pilot);
state_ints.A_Y_pilot = float_to_fixed(buf.A_Y_pilot);
state_ints.A_Z_pilot = float_to_fixed(buf.A_Z_pilot);
#endif
if (received < 0) {
perror("recvfrom");
// } else if (received != echolen) {
// std::cerr << "wrong sized packet " << received << std::endl;
} else {
/// get the ctrls that are properly filled out with environmental
/// data, so we don't clobber that when we modify the flap positions
received = recvfrom(sock2, buffer_ctrl, sizeof(bufctrl), 0,
(struct sockaddr *) &ctrlinclient,
&echolen);
FGProps2NetCtrls(&bufctrl);
float dt =1.0/10.0;
autopilot(state, old_state,dt);
bufctrl.elevator = FPFIX(state.elevator);
bufctrl.aileron = FPFIX(state.aileron);
bufctrl.rudder = FPFIX(state.rudder);
//autopilot_ints(state_ints, old_state_ints, buf, bufctrl);
//state_fixed_to_float(state_ints,state);
/// output to file and stdout
{
/// save telemetry to file
telem <<
buf.longitude << "," << buf.latitude << "," << buf.altitude*M2FT << "," <<
state.p << "," << state.q << "," << state.r << "," <<
bufctrl.elevator << "," << bufctrl.rudder << "," << bufctrl.aileron << "," <<
state.dq << "," << state.iq << "," <<
state.error_heading << "," << state.derror_heading << "," << state.ierror_heading << "," <<
state.error_pitch << "," << state.dpitch << "," << state.ipitch << "," <<
state.tpitch << "," << state.speed << "," <<
state.tdx << "," << state.tdy << "," <<
bufctrl.wind_speed_kt << "," << bufctrl.wind_dir_deg << "," << bufctrl.press_inhg << "," <<
state.dr << "," << state.ir << "," << state.pitch <<
state.A_X_pilot << "," << state.A_Y_pilot << "," << state.A_Z_pilot << "," <<
state.longitude << "," << state.latitude << "," << state.altitude << "," <<
std::endl;
/// output some of the state to stdout every few seconds
static int i = 0;
i++;
std::cout.precision(2);
//if ((state.longitude != old_state.longitude ) || (state.latitude != old_state.latitude)) {
if (i%30==0) {
std::cout <<
", hor dist=" << sqrtf(state.tdist*state.tdist - (state.altitude-target_altitude)*(state.altitude-target_altitude)) <<
//", agl=" << buf.agl << ", alt=" << state.altitude << ", vel=" << state.speed <<
// ", fdm v= " << sqrtf(buf.v_north*buf.v_north + buf.v_east*buf.v_east + buf.v_down*buf.v_down)*0.3048 <<
// " tdx=" << state.tdx << ", tdy=" << state.tdy <<
// " heading= " << heading << " target heading= " << theading <<
", err_head= " << state.error_heading << ", rud=" << bufctrl.rudder <<
// ", lat= " << state.latitude << ", long= " << state.longitude << ", alt= " << state.altitude <<
", pitch= " << state.pitch << ", tpitch= " << state.tpitch << ", elev=" << bufctrl.elevator <<
// ", p=" << state.p <<
// ", q=" << state.q << ", elev=" << bufctrl.elevator <<
", r=" << state.r << ", ail= " << bufctrl.aileron <<
", ax=" << state.A_X_pilot << ", ay=" << state.A_Y_pilot << ", az=" << state.A_Z_pilot <<
", orient=" << state.acc_orientation <<
std::endl;
}
}
fwrite((void*)&state, 1, sizeof(state), telem_file);
//std::cout << old_state.altitude << " " << state.altitude << std::endl;
memcpy(&old_state, &state, sizeof(state));
//memcpy(&old_state_ints, &state_ints, sizeof(state_ints));
////////////////////////////////////////////////////////////////////////
received = sendto(sock, buffer_ctrl, sizeof(bufctrl), 0,
(struct sockaddr *) &ctrlclient, sizeof(ctrlclient));
if (received <0) {
perror("sendto");
}
time += 0.1;
}
usleep(3000);
}
fclose(telem_file);
return 0;
}
bool run_flight(TaskManager &task_manager,
const AutopilotParameters &parms,
const int n_wind,
const double speed_factor)
{
DirectTaskAccessor ta(task_manager);
PrintTaskAutoPilot autopilot(parms);
AircraftSim aircraft;
autopilot.set_default_location(GeoPoint(Angle::degrees(fixed(1.0)), Angle::degrees(fixed(0.0))));
unsigned print_counter=0;
if (n_wind)
aircraft.set_wind(wind_to_mag(n_wind), wind_to_dir(n_wind));
autopilot.set_speed_factor(fixed(speed_factor));
std::ofstream f4("results/res-sample.txt");
std::ofstream f5("results/res-sample-filtered.txt");
bool do_print = verbose;
bool first = true;
time_elapsed = 0.0;
time_planned = 1.0;
time_remaining = 0;
calc_cruise_efficiency = 1.0;
calc_effective_mc = 1.0;
static const fixed fixed_10(10);
AirspaceAircraftPerformanceGlide perf(task_manager.get_glide_polar());
if (aircraft_filter)
aircraft_filter->Reset(aircraft.get_state());
autopilot.Start(ta);
aircraft.Start(autopilot.location_start, autopilot.location_previous,
parms.start_alt);
if (airspaces) {
airspace_warnings =
new AirspaceWarningManager(*airspaces, task_manager);
airspace_warnings->reset(aircraft.get_state());
}
do {
if ((task_manager.getActiveTaskPointIndex() == 1) &&
first && (task_manager.get_stats().total.time_elapsed > fixed_10)) {
time_remaining = task_manager.get_stats().total.time_remaining;
first = false;
time_planned = task_manager.get_stats().total.time_planned;
if (verbose > 1) {
printf("# time remaining %g\n", time_remaining);
printf("# time planned %g\n", time_planned);
}
}
if (do_print) {
PrintHelper::taskmanager_print(task_manager, aircraft.get_state());
const AircraftState state = aircraft.get_state();
f4 << state.time << " "
<< state.location.Longitude << " "
<< state.location.Latitude << " "
<< state.altitude << "\n";
f4.flush();
if (aircraft_filter) {
f5 << aircraft_filter->GetSpeed() << " "
<< aircraft_filter->GetBearing() << " "
<< aircraft_filter->GetClimbRate() << "\n";
f5.flush();
}
}
if (airspaces) {
scan_airspaces(aircraft.get_state(), *airspaces, perf,
do_print,
autopilot.target(ta));
}
if (airspace_warnings) {
if (verbose > 1) {
bool warnings_updated = airspace_warnings->update(aircraft.get_state(),
false, 1);
if (warnings_updated) {
printf("# airspace warnings updated, size %d\n",
(int)airspace_warnings->size());
print_warnings();
wait_prompt();
}
}
}
n_samples++;
do_print = (++print_counter % output_skip == 0) && verbose;
if (aircraft_filter)
aircraft_filter->Update(aircraft.get_state());
autopilot.update_state(ta, aircraft.get_state());
aircraft.Update(autopilot.heading);
{
const AircraftState state = aircraft.get_state();
const AircraftState state_last = aircraft.get_state_last();
task_manager.update(state, state_last);
task_manager.update_idle(state);
task_manager.update_auto_mc(state, fixed_zero);
}
} while (autopilot.update_autopilot(ta, aircraft.get_state(), aircraft.get_state_last()));
aircraft.Stop();
autopilot.Stop();
if (verbose) {
PrintHelper::taskmanager_print(task_manager, aircraft.get_state());
const AircraftState state = aircraft.get_state();
f4 << state.time << " "
<< state.location.Longitude << " "
<< state.location.Latitude << " "
<< state.altitude << "\n";
f4 << "\n";
f4.flush();
task_report(task_manager, "end of task\n");
}
wait_prompt();
time_elapsed = task_manager.get_stats().total.time_elapsed;
time_planned = task_manager.get_stats().total.time_planned;
calc_cruise_efficiency = task_manager.get_stats().cruise_efficiency;
calc_effective_mc = task_manager.get_stats().effective_mc;
if (verbose)
distance_counts();
if (airspace_warnings)
delete airspace_warnings;
return true;
}