Setup basic scene to move the cube to last data received

SConstruct

@@ -2,6 +2,11 @@
 import os
 import sys
 
+if not os.path.isdir("modules/mavlink"):
+    raise UserError("MAVLink sources missing, run git submodule update --init --recursive")
+if not os.path.isdir("include/mavlink"):
+    raise UserError("MAVLink generated headers missing, run python update_mavlink.py")
+
 env = SConscript("modules/godot-cpp/SConstruct")
 
 # For reference:

project/aircraft.gd

@@ -0,0 +1,6 @@
+extends Node3D
+
+@export var connector: MarshConnector
+
+func _process(_delta: float) -> void:
+	transform = connector.get_aircraft()

project/aircraft.gd.uid

@@ -0,0 +1 @@
+uid://cx30pr7kn4c74

project/main.tscn

@@ -1,5 +1,38 @@
-[gd_scene format=3 uid="uid://cjrkxv8ix1h8s"]
+[gd_scene load_steps=7 format=3 uid="uid://cjrkxv8ix1h8s"]
 
-[node name="Node3D" type="Node3D"]
+[ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft.gd" id="1_ig7tw"]
+
+[sub_resource type="BoxMesh" id="BoxMesh_0xm2m"]
+
+[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_ig7tw"]
+
+[sub_resource type="Sky" id="Sky_0xm2m"]
+sky_material = SubResource("ProceduralSkyMaterial_ig7tw")
+
+[sub_resource type="Environment" id="Environment_ig7tw"]
+background_mode = 2
+sky = SubResource("Sky_0xm2m")
+
+[sub_resource type="CameraAttributesPractical" id="CameraAttributesPractical_0xm2m"]
+
+[node name="Main" type="Node3D"]
 
 [node name="MarshConnector" type="MarshConnector" parent="."]
+process_mode = 0
+
+[node name="Aircraft" type="Node3D" parent="." node_paths=PackedStringArray("connector")]
+script = ExtResource("1_ig7tw")
+connector = NodePath("../MarshConnector")
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Aircraft"]
+mesh = SubResource("BoxMesh_0xm2m")
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(-1, -2.26267e-08, 8.44439e-08, 0, 0.965926, 0.258819, -8.74228e-08, 0.258819, -0.965926, 0, 1, -3)
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(-0.707107, -0.683013, 0.183013, 0, 0.258819, 0.965926, -0.707107, 0.683013, -0.183013, 3, 3, 3)
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_ig7tw")
+camera_attributes = SubResource("CameraAttributesPractical_0xm2m")

src/marshconnector.cpp

@@ -6,8 +6,10 @@
 #include "godot_cpp/core/math.hpp"
 #include "godot_cpp/core/memory.hpp"
 #include "godot_cpp/core/print_string.hpp"
+#include "godot_cpp/variant/basis.hpp"
 #include "godot_cpp/variant/packed_byte_array.hpp"
 #include "godot_cpp/variant/quaternion.hpp"
+#include "godot_cpp/variant/transform3d.hpp"
 #include "godot_cpp/variant/vector3.hpp"
 #include "mavlink/all/mavlink.h" // IWYU pragma: keep; always include the mavlink.h file for selected dialect
 #include "mavlink/common/mavlink_msg_sim_state.h"
@@ -21,6 +23,7 @@ using namespace godot;
 void MarshConnector::_bind_methods() {
   ClassDB::bind_method(D_METHOD("send_heartbeat"),
                        &MarshConnector::send_heartbeat);
+  ClassDB::bind_method(D_METHOD("get_aircraft"), &MarshConnector::get_aircraft);
 }
 
 MarshConnector::MarshConnector() {
@@ -123,14 +126,18 @@ float MarshConnector::get_parameter(const String &id) {
   return Math_NAN;
 }
 
+Transform3D MarshConnector::get_aircraft() {
+  return Transform3D{Basis{last_rotation}, last_location};
+}
+
 Vector2 MarshConnector::local_meters_from_global_degrees(double latitude,
                                                          double longitude) {
 
   // Convert everything to radians
   const double lat = latitude * Math_PI / 180.0;
   const double lon = longitude * Math_PI / 180.0;
-  const double lat0 = parameters[LOCAL_FRAME_LAT] * M_PI / 180.0;
+  const double lat0 = parameters[LOCAL_FRAME_LAT] * Math_PI / 180.0;
-  const double lon0 = parameters[LOCAL_FRAME_LON] * M_PI / 180.0;
+  const double lon0 = parameters[LOCAL_FRAME_LON] * Math_PI / 180.0;
 
   double EARTH_RADIUS = 6371008.7714; // mean radius for WGS-84, in meters
 

src/marshconnector.h

@@ -5,6 +5,7 @@
 #include "godot_cpp/classes/packet_peer_udp.hpp"
 #include "godot_cpp/classes/timer.hpp"
 #include "godot_cpp/variant/quaternion.hpp"
+#include "godot_cpp/variant/transform3d.hpp"
 #include "godot_cpp/variant/vector2.hpp"
 #include "godot_cpp/variant/vector3.hpp"
 #include "mavlink/mavlink_types.h"
@@ -32,6 +33,8 @@ public:
   Error set_parameter(const String &id, float value);
   // Get current parameter value
   float get_parameter(const String &id);
+  // Get current state of the aircraft
+  Transform3D get_aircraft();
 
   // Convert from global coordinates to local position x=north, y=east
   // taking into account current configuration.