WIP: PFD instrument

project/aircraft/aircraft.gd

@@ -49,6 +49,7 @@ func _process(delta: float) -> void:
 	# Update the instruments
 	instruments.call("set_controls", connector.get_controls())
 	instruments.call("set_trim", connector.get_trim())
+	instruments.call("update_pfd", connector.get_aircraft(), connector.get_velocity())
 
 	# Spin the rotor only when receiving flight data
 	if connector.get_model_connected():

project/aircraft/aircraft.tscn

@@ -66,7 +66,6 @@ fov = 60.0
 
 [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)
-lidia_hostname = "127.0.0.1"
 
 [node name="MarshConnector" type="MarshConnector" parent="."]
 

project/instruments.gd

@@ -1,32 +1,12 @@
 extends Node
 
-const PFD_PATH: String = "pfd#adi,vsi,alt,ias,rht,rpm,hsi"
-
-@export var lidia_hostname: String = "localhost"
-@export var lidia_port: int = 5555
-
 @onready var controls: Node = $SubViewport2/Controls
-
+@onready var pfd: Node = $SubViewport/PFD
-func _ready():
-	if !$CEF.initialize({"incognito":true, "locale":"en-US"}):
-		push_error($CEF.get_error())
-		get_tree().quit()
-		return
-	print("CEF version: " + $CEF.get_full_version())
-
-	# Wait one frame for the texture rect to get its size
-	await get_tree().process_frame
-
-	var browser_pfd = $CEF.create_browser(
-		"http://{}:{}/{}".format([lidia_hostname, lidia_port, PFD_PATH], "{}"),
-		$SubViewport/TextureRect,
-		{ "frame_rate": 90, "javascript": true },
-	)
-	browser_pfd.name = "pfd"
-	browser_pfd.enable_ad_block(false) # Required for lidia static assets
 
 # Propagate the calls to child
 func set_controls(current: Vector4):
 	controls.set("controls", current)
 func set_trim(trim: Vector4):
 	controls.set("trim", trim)
+func update_pfd(aircraft: Transform3D, velocity: Vector3):
+	pfd.call("update", aircraft, velocity)

project/instruments/RobotoMono-LICENSE.txt

@@ -0,0 +1,41 @@
+Roboto Mono
+
+Copyright 2015 Google
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+=====================================================================
+
+Socket.IO
+
+MIT License
+
+Copyright (c) 2014-2022 Guillermo Rauch
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

project/instruments/RobotoMono-Regular.ttf.import

@@ -0,0 +1,35 @@
+[remap]
+
+importer="font_data_dynamic"
+type="FontFile"
+uid="uid://chqgmpsthpbgt"
+path="res://.godot/imported/RobotoMono-Regular.ttf-48a8b9dfd581c05f54f90e11c9fc9d5f.fontdata"
+
+[deps]
+
+source_file="res://instruments/RobotoMono-Regular.ttf"
+dest_files=["res://.godot/imported/RobotoMono-Regular.ttf-48a8b9dfd581c05f54f90e11c9fc9d5f.fontdata"]
+
+[params]
+
+Rendering=null
+antialiasing=1
+generate_mipmaps=false
+disable_embedded_bitmaps=true
+multichannel_signed_distance_field=false
+msdf_pixel_range=8
+msdf_size=48
+allow_system_fallback=true
+force_autohinter=false
+hinting=1
+subpixel_positioning=4
+keep_rounding_remainders=true
+oversampling=0.0
+Fallbacks=null
+fallbacks=[]
+Compress=null
+compress=true
+preload=[]
+language_support={}
+script_support={}
+opentype_features={}

project/instruments/heading-ticks.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://c36kaqyfalb2v"
+path="res://.godot/imported/heading-ticks.png-8d0b08e5e3af463192c04d5a2068a1e0.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://instruments/heading-ticks.png"
+dest_files=["res://.godot/imported/heading-ticks.png-8d0b08e5e3af463192c04d5a2068a1e0.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

project/instruments/horizon-mask.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://c5nbrnus8pcyd"
+path="res://.godot/imported/horizon-mask.png-03d2bafdd84b9816ae1fe68fc4baf43d.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://instruments/horizon-mask.png"
+dest_files=["res://.godot/imported/horizon-mask.png-03d2bafdd84b9816ae1fe68fc4baf43d.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

project/instruments/horizon-overlay.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://b703lu8yhaoav"
+path="res://.godot/imported/horizon-overlay.png-7e128e1a0dd8183251d6119879899864.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://instruments/horizon-overlay.png"
+dest_files=["res://.godot/imported/horizon-overlay.png-7e128e1a0dd8183251d6119879899864.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

project/instruments/horizon.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://bxdfrv8bovdai"
+path="res://.godot/imported/horizon.png-9384af1095d9251c4f8861113a545ccf.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://instruments/horizon.png"
+dest_files=["res://.godot/imported/horizon.png-9384af1095d9251c4f8861113a545ccf.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

project/instruments/instruments.tscn

@@ -1,7 +1,8 @@
-[gd_scene load_steps=8 format=3 uid="uid://cis4s43ubuynp"]
+[gd_scene load_steps=9 format=3 uid="uid://cis4s43ubuynp"]
 
 [ext_resource type="Script" uid="uid://01bmfj4wthwg" path="res://instruments.gd" id="1_wlkep"]
 [ext_resource type="PackedScene" uid="uid://bgkpwebqksth5" path="res://instruments/controls.tscn" id="2_372d7"]
+[ext_resource type="PackedScene" uid="uid://b26tu6wb2h3ce" path="res://instruments/pfd.tscn" id="2_uhiu3"]
 
 [sub_resource type="QuadMesh" id="QuadMesh_nowl7"]
 
@@ -21,14 +22,11 @@ albedo_texture = SubResource("ViewportTexture_h5at3")
 
 [node name="Instruments" type="Node3D"]
 script = ExtResource("1_wlkep")
-lidia_hostname = "192.168.1.2"
 
 [node name="SubViewport" type="SubViewport" parent="."]
+size = Vector2i(1024, 1024)
 
-[node name="TextureRect" type="TextureRect" parent="SubViewport"]
+[node name="PFD" parent="SubViewport" instance=ExtResource("2_uhiu3")]
-offset_right = 512.0
-offset_bottom = 512.0
-expand_mode = 5
 
 [node name="Quad" type="MeshInstance3D" parent="."]
 transform = Transform3D(0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, -0.35, 0, 0)

project/instruments/pfd-background.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://colp4xsovikmv"
+path="res://.godot/imported/pfd-background.png-99626101f4d3a30d7dd189ac71adf1c0.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://instruments/pfd-background.png"
+dest_files=["res://.godot/imported/pfd-background.png-99626101f4d3a30d7dd189ac71adf1c0.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

project/instruments/pfd.gd

@@ -0,0 +1,50 @@
+@tool
+class_name PFD
+extends Node2D
+
+@export var euler_attitude_deg: Vector3:
+	set(value):
+		euler_attitude_deg = value
+		horizon_pivot.rotation = deg_to_rad(-value.x)
+		const px_per_deg: float = 6.56
+		horizon_background.position.y = px_per_deg * clamp(value.y, -30, 30)
+		heading_ticks.rotation = deg_to_rad(-value.z)
+		heading_label.text = "%03d" % (int(round(value.z) + 360) % 360)
+
+@export var airspeed: float:
+	set(value):
+		airspeed = value
+		airspeed_label.text = str(int(round(value)))
+
+@export var groundspeed: float:
+	set(value):
+		groundspeed = value
+		groundspeed_label.text = str(int(round(value)))
+
+@export var altitude: float:
+	set(value):
+		altitude = value
+		var step = 1
+		if value > 49.5:
+			step = 5
+		if value > 99.5:
+			step = 10
+		altitude_label.text = str(int(step * round(value / step)))
+
+@export var climbrate: float = 1000:
+	set(value):
+		climbrate = value
+		climbrate_arrow.scale.y = clamp(value / 1000.0, -1, 1)
+
+@onready var horizon_pivot: Node2D = $HorizonMask/HorizonOrigin/Pivot
+@onready var horizon_background: Node2D = $HorizonMask/HorizonOrigin/Pivot/Background
+@onready var heading_ticks: Node2D = $HeadingOrigin/Ticks
+@onready var climbrate_arrow: Node2D = $ClimbrateOrigin/Polygon2D
+@onready var airspeed_label: Label = $Airspeed
+@onready var groundspeed_label: Label = $Groundspeed
+@onready var altitude_label: Label = $Altitude
+@onready var heading_label: Label = $Heading
+
+func update(aircraft: Transform3D, velocity: Vector3):
+	var godot_euler = aircraft.basis.get_euler()
+	euler_attitude_deg = Vector3(godot_euler.z, -godot_euler.x, -godot_euler.y) * rad_to_deg(1)

project/instruments/pfd.gd.uid

@@ -0,0 +1 @@
+uid://368tfiyen071

project/instruments/pfd.tscn

@@ -0,0 +1,103 @@
+[gd_scene load_steps=9 format=3 uid="uid://b26tu6wb2h3ce"]
+
+[ext_resource type="Texture2D" uid="uid://colp4xsovikmv" path="res://instruments/pfd-background.png" id="1_inkqg"]
+[ext_resource type="Script" uid="uid://368tfiyen071" path="res://instruments/pfd.gd" id="1_t02it"]
+[ext_resource type="Texture2D" uid="uid://c5nbrnus8pcyd" path="res://instruments/horizon-mask.png" id="2_t02it"]
+[ext_resource type="Texture2D" uid="uid://bxdfrv8bovdai" path="res://instruments/horizon.png" id="3_kwqn1"]
+[ext_resource type="Texture2D" uid="uid://b703lu8yhaoav" path="res://instruments/horizon-overlay.png" id="4_1vq1p"]
+[ext_resource type="Texture2D" uid="uid://c36kaqyfalb2v" path="res://instruments/heading-ticks.png" id="5_3w2cf"]
+[ext_resource type="FontFile" uid="uid://chqgmpsthpbgt" path="res://instruments/RobotoMono-Regular.ttf" id="6_wtx4e"]
+[ext_resource type="Texture2D" uid="uid://toojp8r3424r" path="res://instruments/pfd-ref.png" id="7_86xjv"]
+
+[node name="PFD" type="Node2D"]
+script = ExtResource("1_t02it")
+
+[node name="Background" type="Sprite2D" parent="."]
+position = Vector2(512, 512)
+texture = ExtResource("1_inkqg")
+
+[node name="HorizonMask" type="Sprite2D" parent="."]
+clip_children = 1
+position = Vector2(512, 512)
+texture = ExtResource("2_t02it")
+
+[node name="HorizonOrigin" type="Node2D" parent="HorizonMask"]
+position = Vector2(-82, -244)
+
+[node name="Pivot" type="Node2D" parent="HorizonMask/HorizonOrigin"]
+
+[node name="Background" type="Sprite2D" parent="HorizonMask/HorizonOrigin/Pivot"]
+texture = ExtResource("3_kwqn1")
+
+[node name="RollArrowContour" type="Polygon2D" parent="HorizonMask/HorizonOrigin/Pivot"]
+position = Vector2(-430, -267)
+color = Color(0, 0, 0, 1)
+polygon = PackedVector2Array(430, 70, 416, 92, 444, 92)
+
+[node name="RollArrowFill" type="Polygon2D" parent="HorizonMask/HorizonOrigin/Pivot"]
+position = Vector2(-430, -267)
+polygon = PackedVector2Array(430, 74, 420, 90, 440, 90)
+
+[node name="Overlay" type="Sprite2D" parent="HorizonMask/HorizonOrigin"]
+texture = ExtResource("4_1vq1p")
+
+[node name="HeadingOrigin" type="Node2D" parent="."]
+position = Vector2(430, 794)
+
+[node name="Ticks" type="Sprite2D" parent="HeadingOrigin"]
+texture = ExtResource("5_3w2cf")
+
+[node name="ClimbrateOrigin" type="Node2D" parent="."]
+position = Vector2(711, 268)
+
+[node name="Polygon2D" type="Polygon2D" parent="ClimbrateOrigin"]
+polygon = PackedVector2Array(12, 0, -12, 0, -12, -121, 0, -133, 12, -121)
+
+[node name="Airspeed" type="Label" parent="."]
+offset_left = 35.0
+offset_top = 233.0
+offset_right = 154.0
+offset_bottom = 298.0
+theme_override_fonts/font = ExtResource("6_wtx4e")
+theme_override_font_sizes/font_size = 48
+text = "0"
+horizontal_alignment = 2
+vertical_alignment = 1
+
+[node name="Groundspeed" type="Label" parent="."]
+offset_left = 59.0
+offset_top = 477.0
+offset_right = 178.0
+offset_bottom = 542.0
+theme_override_fonts/font = ExtResource("6_wtx4e")
+theme_override_font_sizes/font_size = 33
+text = "0"
+horizontal_alignment = 2
+vertical_alignment = 1
+
+[node name="Altitude" type="Label" parent="."]
+offset_left = 859.0
+offset_top = 233.0
+offset_right = 978.0
+offset_bottom = 298.0
+theme_override_fonts/font = ExtResource("6_wtx4e")
+theme_override_font_sizes/font_size = 48
+text = "0"
+horizontal_alignment = 2
+vertical_alignment = 1
+
+[node name="Heading" type="Label" parent="."]
+offset_left = 370.0
+offset_top = 498.0
+offset_right = 489.0
+offset_bottom = 563.0
+theme_override_fonts/font = ExtResource("6_wtx4e")
+theme_override_font_sizes/font_size = 33
+text = "000"
+horizontal_alignment = 1
+vertical_alignment = 1
+
+[node name="Reference" type="Sprite2D" parent="."]
+visible = false
+position = Vector2(512, 512)
+texture = ExtResource("7_86xjv")

src/marshconnector.cpp

@@ -34,6 +34,7 @@ using namespace godot;
 void MarshConnector::_bind_methods() {
   // Data access
   ClassDB::bind_method(D_METHOD("get_aircraft"), &MarshConnector::get_aircraft);
+  ClassDB::bind_method(D_METHOD("get_velocity"), &MarshConnector::get_velocity);
   ClassDB::bind_method(D_METHOD("get_cyclic"), &MarshConnector::get_cyclic);
   ClassDB::bind_method(D_METHOD("get_collective"),
                        &MarshConnector::get_collective);
@@ -242,6 +243,8 @@ Transform3D MarshConnector::get_aircraft() {
   return offset * marsh;
 }
 
+Vector3 MarshConnector::get_velocity() { return last_velocity; }
+
 Vector2 MarshConnector::get_cyclic() {
   return Vector2{last_controls.x, last_controls.y};
 }
@@ -293,6 +296,8 @@ void MarshConnector::handle_sim_state(mavlink_message_t message) {
       local_position.x, local_position.y, sim_state.alt));
   receive_rotation(godot_rotation_from_mavlink(sim_state.roll, sim_state.pitch,
                                                sim_state.yaw));
+
+  last_velocity = Vector3{-sim_state.ve, -sim_state.vd, sim_state.vn};
 }
 Vector3 MarshConnector::godot_location_from_mavlink(float north_meters,
                                                     float east_meters,

src/marshconnector.h

@@ -39,6 +39,7 @@ public:
 
   // Get current state of the aircraft
   Transform3D get_aircraft();
+  Vector3 get_velocity();
   // Get normalized (-1 to 1) cyclic position, where X is right, Y is pitch up
   Vector2 get_cyclic();
   // Get normalized (0 to 1) collective position, positive to climb
@@ -118,6 +119,7 @@ private:
   // Or not, in practice the simple solution works nicely
   Vector3 last_location;
   Quaternion last_rotation;
+  Vector3 last_velocity;
   Vector4 last_controls;
   Vector4 last_trim;