Successful test with motion platform and VR together

project/aircraft/aircraft.gd

@@ -2,9 +2,9 @@ extends Node3D
 
 ## Rotation of cyclic stick model for full control deflection, in degrees
 @export var range_cyclic: float = 30
-
 ## Main rotor speed, in revolutions per minute
 @export var rotor_rpm: float = 500
+@export var track_platform: bool = false
 
 ## Current angle of rotor rotation
 var _rotor_azimuth: float = 0
@@ -12,7 +12,8 @@ var _rotor_azimuth: float = 0
 @onready var connector: MarshConnector = $MarshConnector
 @onready var skeleton: Skeleton3D = $"Mi-2/Armature/Skeleton3D"
 @onready var attitude_root: Node3D = $AttitudeRoot
-@onready var tracker_mount: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair
+@onready var tracker_mount_chair: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair
+@onready var tracker_mount_platform: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountPlatform
 @onready var xr_origin: XROrigin3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D
 @onready var tracker: XRController3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker
 
@@ -48,6 +49,7 @@ func _process(delta: float) -> void:
 		skeleton.set_bone_pose_rotation(bone_rotor, rotor_rest * rotor_att)
 
 	if tracker.get_has_tracking_data():
+		var tracker_mount = tracker_mount_platform if track_platform else tracker_mount_chair
 		xr_origin.transform = tracker_mount.transform * tracker.transform.affine_inverse()
 	else:
 		xr_origin.transform = Transform3D.IDENTITY

project/aircraft/aircraft.tscn

@@ -9,6 +9,7 @@
 
 [node name="Aircraft" type="Node3D"]
 script = ExtResource("1_l4uib")
+track_platform = true
 
 [node name="Mi-2" parent="." instance=ExtResource("1_mrxe8")]
 
@@ -33,6 +34,13 @@ transform = Transform3D(-1, 8.74228e-08, -3.82137e-15, 0, -4.37114e-08, -1, -8.7
 [node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair" instance=ExtResource("3_2bi7g")]
 transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
 
+[node name="TrackerMountPlatform" type="Node3D" parent="AttitudeRoot/PilotEyes/PilotFloor"]
+transform = Transform3D(-0.891006, -0.453991, 1.98446e-08, 0, -4.37114e-08, -1, 0.453991, -0.891006, 3.89471e-08, 0.4, 0.5, -0.7)
+
+[node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/TrackerMountPlatform" instance=ExtResource("3_2bi7g")]
+transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
+visible = false
+
 [node name="XROrigin3D" type="XROrigin3D" parent="AttitudeRoot/PilotEyes/PilotFloor"]
 
 [node name="XRCamera3D" type="XRCamera3D" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D"]
@@ -42,6 +50,7 @@ tracker = &"/user/vive_tracker_htcx/role/camera"
 
 [node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker" instance=ExtResource("3_2bi7g")]
 transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
+visible = false
 
 [node name="Instruments" parent="AttitudeRoot" instance=ExtResource("3_5w717")]
 transform = Transform3D(-0.5, -1.27582e-08, 7.43353e-08, 4.33325e-10, 0.4923, 0.0874084, -7.5421e-08, 0.0874084, -0.4923, 0.00724897, -1.1581, 2.40391)

project/instruments.gd

@@ -1,7 +1,7 @@
 extends Node
 
 @export var browser_name: String = "browser"
-@export var url: String = "http://localhost:5555/pfd"
+@export var url: String = "http://192.168.1.2:5555/pfd"
 
 # ==============================================================================
 # Create a single browser named "browser_name" that is attached as child node to $CEF.

src/marshconnector.cpp

@@ -85,7 +85,7 @@ void MarshConnector::_process(double delta) {
   time_passed += delta;
 
   if (!socket->is_socket_connected()) {
-    socket->connect_to_host("127.0.0.1", 24400);
+    socket->connect_to_host("192.168.1.2", 24400);
   } else {
     while (socket->get_available_packet_count() > 0) {
       const PackedByteArray data = socket->get_packet();
@@ -251,9 +251,9 @@ Vector3 MarshConnector::godot_location_from_mavlink(float north_meters,
   // See Godot documentation for axis conventions:
   // https://docs.godotengine.org/en/stable/classes/class_vector3.html#constants
   return Vector3{
-      east_meters,  // East is RIGHT = Vector3(1, 0, 0)
+      -east_meters, // East is MODEL_RIGHT = Vector3(-1, 0, 0)
-      alt_meters,   // Up is UP = Vector3(0, 1, 0)
+      alt_meters,   // Up is MODEL_TOP = Vector3(0, 1, 0)
-      north_meters, // North is FORWARD = Vector3(0, 0, -1)
+      north_meters, // North is MODEL_FRONT = Vector3(0, 0, 1)
   };
 }
 Quaternion MarshConnector::godot_rotation_from_mavlink(float roll_rad,