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base: DAER:821072eae571f1e6f3d62074f15922e4ab93e1e1
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DAER:master
DAER:margaux
DAER:2025.11.28
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compare: DAER:e5bebc86cc7457984e39c4c0cf1bc6066e3c2d5a
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DAER:master
DAER:margaux
DAER:2025.11.28

No commits in common. "821072eae571f1e6f3d62074f15922e4ab93e1e1" and "e5bebc86cc7457984e39c4c0cf1bc6066e3c2d5a" have entirely different histories.
821072eae5 ... e5bebc86cc

23 changed files with 37 additions and 436 deletions
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6
project/aircraft/aircraft.gd
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@ -25,8 +25,6 @@ var _rotor_azimuth: float = 0
@onready var bone_cyclic: int = skeleton.find_bone("Cyclic")
@onready var bone_rotor: int = skeleton.find_bone("Rotor")
@onready var instruments: Node = $AttitudeRoot/Instruments
func _process(delta: float) -> void:
var target: Transform3D = connector.get_aircraft()
position = target.origin
@ -46,10 +44,6 @@ func _process(delta: float) -> void:
var cyc_att := Quaternion.from_euler(Vector3(cyc_angles_rad.y, cyc_angles_rad.x, 0))
skeleton.set_bone_pose_rotation(bone_cyclic, cyc_att * cyc_rest)
# Update the instruments
instruments.call("set_controls", connector.get_controls())
instruments.call("set_trim", connector.get_trim())
# Spin the rotor only when receiving flight data
if connector.get_model_connected():
_rotor_azimuth += rotor_rpm * 2 * PI / 60 * delta

2
project/aircraft/aircraft.tscn
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@ -3,7 +3,7 @@
[ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft/aircraft.gd" id="1_l4uib"]
[ext_resource type="PackedScene" uid="uid://cux4tju0ovvly" path="res://assets/mi2/Mi-2.glb" id="1_mrxe8"]
[ext_resource type="PackedScene" uid="uid://fmygcraoturj" path="res://reference_axes.tscn" id="3_2bi7g"]
[ext_resource type="PackedScene" uid="uid://cis4s43ubuynp" path="res://instruments/instruments.tscn" id="3_5w717"]
[ext_resource type="PackedScene" uid="uid://cis4s43ubuynp" path="res://instruments.tscn" id="3_5w717"]
[ext_resource type="Script" uid="uid://bt32fse84itrp" path="res://aircraft/fallback_input.gd" id="3_gf6ud"]
[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_mrxe8"]

15
project/instruments.gd
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@ -1,12 +1,11 @@
extends Node
const PFD_PATH: String = "pfd#adi,vsi,alt,ias,rht,rpm,hsi"
const CONTROLS_PATH: String = "controls#collective,cyclic,rudder"
@export var lidia_hostname: String = "localhost"
@export var lidia_port: int = 5555
@onready var controls: Node = $SubViewport2/Controls
func _ready():
if !$CEF.initialize({"incognito":true, "locale":"en-US"}):
push_error($CEF.get_error())
@ -25,8 +24,10 @@ func _ready():
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.call("set_controls", current)
func set_trim(trim: Vector4):
controls.call("set_trim", trim)
var browser_ctrl = $CEF.create_browser(
"http://{}:{}/{}".format([lidia_hostname, lidia_port, CONTROLS_PATH], "{}"),
$SubViewport2/TextureRect,
{ "frame_rate": 90, "javascript": true },
)
browser_ctrl.name = "controls"
browser_ctrl.enable_ad_block(false) # Required for lidia static assets

12
project/instruments/instruments.tscn → project/instruments.tscn
View file

@ -1,7 +1,6 @@
[gd_scene load_steps=8 format=3 uid="uid://cis4s43ubuynp"]
[gd_scene load_steps=7 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="Script" uid="uid://01bmfj4wthwg" path="res://instruments.gd" id="1_h5at3"]
[sub_resource type="QuadMesh" id="QuadMesh_nowl7"]
@ -20,7 +19,7 @@ resource_local_to_scene = true
albedo_texture = SubResource("ViewportTexture_h5at3")
[node name="Instruments" type="Node3D"]
script = ExtResource("1_wlkep")
script = ExtResource("1_h5at3")
lidia_hostname = "192.168.1.2"
[node name="SubViewport" type="SubViewport" parent="."]
@ -37,7 +36,10 @@ surface_material_override/0 = SubResource("StandardMaterial3D_h5at3")
[node name="SubViewport2" type="SubViewport" parent="."]
[node name="Controls" parent="SubViewport2" instance=ExtResource("2_372d7")]
[node name="TextureRect" type="TextureRect" parent="SubViewport2"]
offset_right = 512.0
offset_bottom = 512.0
expand_mode = 5
[node name="Quad2" type="MeshInstance3D" parent="."]
transform = Transform3D(0.6, 0, 0, 0, 0.6, 0, 0, 0, 0.6, 0.425, 0, 0)

BIN
project/instruments/controls-background.png (Stored with Git LFS)
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34
project/instruments/controls-background.png.import
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@ -1,34 +0,0 @@
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detect_3d/compress_to=1

BIN
project/instruments/controls-ref.png (Stored with Git LFS)
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34
project/instruments/controls-ref.png.import
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@ -1,34 +0,0 @@
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33
project/instruments/controls.gd
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@ -1,33 +0,0 @@
extends Node2D
## Recreate the controls page from lidia Python package
@onready var trim_longitudinal: Node2D = $CyclicOrigin/TrimLongitudinal
@onready var trim_lateral: Node2D = $CyclicOrigin/TrimLateral
@onready var current_cyclic: Node2D = $CyclicOrigin/CurrentCyclic
@onready var trim_collective: Node2D = $CollectiveOrigin/TrimCollective
@onready var current_collective: Node2D = $CollectiveOrigin/CurrentCollective
@onready var trim_pedals: Node2D = $PedalsOrigin/TrimPedals
@onready var current_pedals: Node2D = $PedalsOrigin/CurrentPedals
const AXIS_SIZE: float = 326
func set_controls(current: Vector4):
set_cyclic(Vector2(current.x, current.y))
set_collective(current.w)
set_pedals(current.z)
func set_cyclic(current: Vector2):
current_cyclic.position.x = AXIS_SIZE / 2.0 * current.x
current_cyclic.position.y = AXIS_SIZE / 2.0 * current.y
func set_collective(current: float):
current_collective.position.y = -AXIS_SIZE * current
func set_pedals(current: float):
current_pedals.position.x = AXIS_SIZE / 2.0 * current
func set_trim(trim: Vector4):
trim_lateral.position.x = AXIS_SIZE / 2.0 * trim.x
trim_longitudinal.position.y = AXIS_SIZE / 2.0 * trim.y
trim_pedals.position.x = AXIS_SIZE / 2.0 * trim.z
trim_collective.position.y = -AXIS_SIZE * trim.w

1
project/instruments/controls.gd.uid
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@ -1 +0,0 @@
uid://ds6f8cur05ka0

54
project/instruments/controls.tscn
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@ -1,54 +0,0 @@
[gd_scene load_steps=7 format=3 uid="uid://bgkpwebqksth5"]
[ext_resource type="Script" uid="uid://ds6f8cur05ka0" path="res://instruments/controls.gd" id="1_g7kvs"]
[ext_resource type="Texture2D" uid="uid://b0oeokas7mq4q" path="res://instruments/controls-background.png" id="2_wbvwt"]
[ext_resource type="Texture2D" uid="uid://c561m3pvc0kop" path="res://instruments/trim-long.png" id="3_37ekc"]
[ext_resource type="Texture2D" uid="uid://wdqnlguxmi2a" path="res://instruments/current-dot.png" id="4_4updv"]
[ext_resource type="Texture2D" uid="uid://dytpn8rcdimr" path="res://instruments/trim-short.png" id="5_ni3tk"]
[ext_resource type="Texture2D" uid="uid://dkda6ju5daocf" path="res://instruments/current-arrow.png" id="6_mfntf"]
[node name="Controls" type="Node2D"]
script = ExtResource("1_g7kvs")
[node name="Background" type="Sprite2D" parent="."]
position = Vector2(256, 256)
texture = ExtResource("2_wbvwt")
[node name="CyclicOrigin" type="Node2D" parent="."]
position = Vector2(309, 189)
[node name="TrimLongitudinal" type="Sprite2D" parent="CyclicOrigin"]
position = Vector2(10, 0)
texture = ExtResource("3_37ekc")
[node name="TrimLateral" type="Sprite2D" parent="CyclicOrigin"]
position = Vector2(0, 10)
rotation = 1.5708
texture = ExtResource("3_37ekc")
[node name="CurrentCyclic" type="Sprite2D" parent="CyclicOrigin"]
texture = ExtResource("4_4updv")
[node name="CollectiveOrigin" type="Node2D" parent="."]
position = Vector2(72.5, 352)
[node name="TrimCollective" type="Sprite2D" parent="CollectiveOrigin"]
position = Vector2(-10.5, 0)
texture = ExtResource("5_ni3tk")
[node name="CurrentCollective" type="Sprite2D" parent="CollectiveOrigin"]
position = Vector2(20.5, 0)
texture = ExtResource("6_mfntf")
[node name="PedalsOrigin" type="Node2D" parent="."]
position = Vector2(309, 425.5)
[node name="TrimPedals" type="Sprite2D" parent="PedalsOrigin"]
position = Vector2(0, 10.5)
rotation = -1.5708
texture = ExtResource("5_ni3tk")
[node name="CurrentPedals" type="Sprite2D" parent="PedalsOrigin"]
position = Vector2(0, -21.5)
rotation = -1.5708
texture = ExtResource("6_mfntf")

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project/instruments/current-arrow.png (Stored with Git LFS)
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34
project/instruments/current-arrow.png.import
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@ -1,34 +0,0 @@
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project/instruments/current-dot.png (Stored with Git LFS)
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82
src/marshconnector.cpp
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@ -18,7 +18,6 @@
#include "mavlink/all/mavlink.h" // IWYU pragma: keep; always include the mavlink.h file for selected dialect
#include "mavlink/common/mavlink_msg_command_long.h"
#include "mavlink/common/mavlink_msg_manual_control.h"
#include "mavlink/common/mavlink_msg_manual_setpoint.h"
#include "mavlink/common/mavlink_msg_param_request_list.h"
#include "mavlink/common/mavlink_msg_param_set.h"
#include "mavlink/common/mavlink_msg_param_value.h"
@ -27,7 +26,6 @@
#include "mavlink/mavlink_types.h"
#include <cstdint>
#include <optional>
#include <string.h>
using namespace godot;
@ -38,8 +36,6 @@ void MarshConnector::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_collective"),
&MarshConnector::get_collective);
ClassDB::bind_method(D_METHOD("get_pedals"), &MarshConnector::get_pedals);
ClassDB::bind_method(D_METHOD("get_controls"), &MarshConnector::get_controls);
ClassDB::bind_method(D_METHOD("get_trim"), &MarshConnector::get_trim);
ClassDB::bind_method(D_METHOD("get_model_connected"),
&MarshConnector::get_model_connected);
ClassDB::bind_method(D_METHOD("get_manager_connected"),
@ -185,9 +181,6 @@ void MarshConnector::receive_data(const PackedByteArray &data) {
case MAVLINK_MSG_ID_MANUAL_CONTROL:
handle_manual_control(message);
break;
case MAVLINK_MSG_ID_MANUAL_SETPOINT:
handle_manual_setpoint(message);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
handle_heartbeat(message);
break;
@ -250,10 +243,6 @@ float MarshConnector::get_collective() { return last_controls.w; }
float MarshConnector::get_pedals() { return last_controls.z; }
Vector4 MarshConnector::get_controls() { return last_controls; }
Vector4 MarshConnector::get_trim() { return last_trim; }
bool MarshConnector::get_manager_connected() { return manager_connected; }
bool MarshConnector::get_model_connected() { return model_connected; }
@ -414,11 +403,10 @@ Error MarshConnector::send_param(Parameter index) {
}
mavlink_param_value_t param_value;
memset(param_value.param_id, 0, sizeof(param_value.param_id));
CharString nameBuffer = parameter_names[index].ascii();
const char *name = nameBuffer.get_data();
// strncpy will write nulls after data until reaching target count
strncpy(param_value.param_id, name, sizeof(param_value.param_id));
strcpy_s(param_value.param_id, name);
param_value.param_value = parameters[index];
param_value.param_type = MAV_PARAM_TYPE_REAL32;
param_value.param_count = PARAM_COUNT;
@ -447,22 +435,6 @@ void MarshConnector::handle_manual_control(mavlink_message_t message) {
last_controls.w = manual_control.z / 1000.0f;
}
void MarshConnector::handle_manual_setpoint(mavlink_message_t message) {
if (message.msgid != MAVLINK_MSG_ID_MANUAL_SETPOINT)
return;
mavlink_manual_setpoint_t manual_setpoint;
mavlink_msg_manual_setpoint_decode(&message, &manual_setpoint);
if (manual_setpoint.mode_switch == MARSH_MANUAL_SETPOINT_MODE_TRIM) {
last_trim = Vector4{
manual_setpoint.roll,
manual_setpoint.pitch,
manual_setpoint.yaw,
manual_setpoint.thrust,
};
}
}
void MarshConnector::handle_heartbeat(mavlink_message_t message) {
if (message.msgid != MAVLINK_MSG_ID_HEARTBEAT)
return;
@ -473,16 +445,27 @@ void MarshConnector::handle_heartbeat(mavlink_message_t message) {
if (!manager_connected) {
print_line("Connected to MARSH Manager");
Error result = subscribe_message(message.sysid, message.compid,
MAVLINK_MSG_ID_MANUAL_CONTROL);
if (result != OK) {
print_line("Subscribe control send result ", result);
}
// subscribe to messages not sent to visualisation node by default
mavlink_command_long_t command;
command.target_system = 1;
command.target_component =
MAV_COMP_ID_USER1; // HACK: Should get it from received HEARTBEAT
command.command = MAV_CMD_SET_MESSAGE_INTERVAL;
command.confirmation = 0;
command.param1 = static_cast<float>(MAVLINK_MSG_ID_MANUAL_CONTROL);
command.param2 = 0; // Default rate
command.param3 = 0; // Not used
command.param4 = 0;
command.param5 = 0;
command.param6 = 0;
command.param7 = 1; // Address of requestor
result = subscribe_message(message.sysid, message.compid,
MAVLINK_MSG_ID_MANUAL_SETPOINT);
mavlink_message_t message_sent;
mavlink_msg_command_long_encode_chan(
system_id, component_id, MAVLINK_COMM_0, &message_sent, &command);
Error result = send_message(message_sent);
if (result != OK) {
print_line("Subscribe setpoint send result ", result);
print_line("Subscribe send result ", result);
}
}
@ -491,29 +474,6 @@ void MarshConnector::handle_heartbeat(mavlink_message_t message) {
}
}
Error MarshConnector::subscribe_message(uint8_t manager_system,
uint8_t manager_component,
uint32_t msgid) {
// subscribe to messages not sent to visualisation node by default
mavlink_command_long_t command;
command.target_system = manager_system;
command.target_component = manager_component;
command.command = MAV_CMD_SET_MESSAGE_INTERVAL;
command.confirmation = 0;
command.param1 = static_cast<float>(msgid);
command.param2 = 0; // Default rate
command.param3 = 0; // Not used
command.param4 = 0;
command.param5 = 0;
command.param6 = 0;
command.param7 = 1; // Address of requester
mavlink_message_t message_sent;
mavlink_msg_command_long_encode_chan(system_id, component_id, MAVLINK_COMM_0,
&message_sent, &command);
return send_message(message_sent);
}
void MarshConnector::manager_timeout() {
print_line("Lost connection to MARSH Manager");
manager_connected = false;

9
src/marshconnector.h
View file

@ -45,10 +45,6 @@ public:
float get_collective();
// Get normalized (-1 to 1) pedals position, positive turn right
float get_pedals();
// Get normalized position for all controls
Vector4 get_controls();
// Get normalized trim position
Vector4 get_trim();
// Is there a connection to MARSH Manager
bool get_manager_connected();
@ -80,7 +76,6 @@ private:
void handle_attitude(mavlink_message_t message);
void handle_param(mavlink_message_t message);
void handle_manual_control(mavlink_message_t message);
void handle_manual_setpoint(mavlink_message_t message);
void handle_heartbeat(mavlink_message_t message);
void receive_model_data();
@ -108,18 +103,14 @@ private:
"LOCAL_FRAME_LAT", "LOCAL_FRAME_LON",
};
Error send_param(Parameter index);
Error subscribe_message(uint8_t manager_system, uint8_t manager_component,
uint32_t msgid);
uint8_t system_id;
uint8_t component_id;
// TODO: Interpolate with some delay
// Or not, in practice the simple solution works nicely
Vector3 last_location;
Quaternion last_rotation;
Vector4 last_controls;
Vector4 last_trim;
double time_passed;
Timer *heartbeat_timer;