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Use NAV_OFS parameters

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Marek S. Łukasiewicz 2025-11-19 16:10:25 +01:00
parent 2b147e4479
commit 6226ebb74f
2 changed files with 5 additions and 2 deletions
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5
src/marshconnector.cpp
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@ -221,7 +221,10 @@ float MarshConnector::get_parameter(const String &id) {
} }
Transform3D MarshConnector::get_aircraft() { Transform3D MarshConnector::get_aircraft() {
return Transform3D{Basis{last_rotation}, last_location}; float heading_rad = parameters[NAV_OFS_HDG] * Math_PI / 180.0;
Quaternion heading_offset = Quaternion(Vector3(0, 1, 0), heading_rad);
Quaternion rotation = heading_offset * last_rotation;
return Transform3D{Basis{rotation}, last_location + Vector3{-parameters[NAV_OFS_Y], 0.0, parameters[NAV_OFS_X]}};
} }
Vector2 MarshConnector::get_cyclic() { Vector2 MarshConnector::get_cyclic() {

2
src/marshconnector.h
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@ -96,7 +96,7 @@ private:
LOCAL_FRAME_LON, LOCAL_FRAME_LON,
PARAM_COUNT, PARAM_COUNT,
}; };
float parameters[PARAM_COUNT] = {0.0, 0.0, 0.0, 0.0, 0.0}; float parameters[PARAM_COUNT] = {90.0, -100.0, 300.0, 0.0, 0.0};
const String parameter_names[PARAM_COUNT] = { const String parameter_names[PARAM_COUNT] = {
// "FOG_DENSITY", // "FOG_DENSITY",
"NAV_OFS_HDG", "NAV_OFS_X", "NAV_OFS_Y", "NAV_OFS_HDG", "NAV_OFS_X", "NAV_OFS_Y",