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For -the avoidance of doubt, this paragraph does not form part of the -public licenses. - -Creative Commons may be contacted at creativecommons.org. diff --git a/LICENSE-MIT.txt b/LICENSE.txt similarity index 100% rename from LICENSE-MIT.txt rename to LICENSE.txt diff --git a/README.md b/README.md index 23d4d29..e7525a6 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,114 @@ # Visualisation for MARSH This is a visualisation module for [Modular Architecture for Reconfigurable Simulation of Helicopters](https://marsh-sim.github.io/). -For documentation, see [MARSH Documentation - Visualisation](https://marsh-sim.github.io/nodes/visualisation/) +The project is configured to display cockpit instruments with [lidia](https://pypi.org/project/lidia) Python package. -## License +Named in this order so not everything starts with the same word. -Source code available under the terms of [The MIT License](https://opensource.org/license/mit). -Other assets available under [Creative Commons Attribution 4.0 (CC-BY)](https://creativecommons.org/licenses/by/4.0/). +## Usage + +The application will attempt to start in VR, but if it fails it will display the default pilot viewpoint looking forward. + +### Parameters + +These can be modified over MAVLink, for example using MARSH Manager. + +Example changes to `NAV_OFS_` parameters to start in given positions: + +- Sidestep, vertical repositioning: all default +- Accelerate/decelerate: `HDG` = -90 +- Hover maneuver: `X` = 50, `Y` = 50 +- Start of slalom: `HDG` = -90, `X` = -100, `Y` = 300 + +#### NAV_OFS_HDG + +Displayed heading relative to default position, in degrees. + +#### NAV_OFS_X + +Starting position offset, forward in default orientation, in meters. + +#### NAV_OFS_X + +Starting position offset, right in default orientation, in meters. + +#### LOCAL_FRAME_LAT + +Latitude of local coordinate frame origin when using messages with global position, in degrees. + +#### LOCAL_FRAME_LON + +Longitude of local coordinate frame origin when using messages with global position, in degrees. + +## Development + +The asset files like textures and models are very big, so the project also uses [Git Large File Storage](https://git-lfs.com/). +Once installed, it should work correctly with usual `git` commands but you may need to run this if you install it after cloning the repository: + +```sh +git lfs pull +``` + +This repository uses [Git Submodules](https://git-scm.com/book/en/v2/Git-Tools-Submodules), to get all the code you need to run either: + +```sh +git clone --recurse-submodules
+# Or at any later point +git submodule update --init --recursive +``` + +Using Godot v4.4. +Install SCons with `pipx install scons`. +You will need a C++ compiler, you might have one already on Linux, see below for Windows, otherwise in [Godot documentation](https://docs.godotengine.org/en/stable/contributing/development/compiling/index.html). + +For updating MAVLink generator, you additionally `pip install future`. +It is recommended to install any packages in a [virtual environment](https://docs.python.org/3/library/venv.html), for example: + +```sh +python3 -m venv venv +source venv/bin/activate +pip install future +``` + +Some files are generated, run the following commands on first setup and when dependencies change: + +```sh +godot --dump-extension-api # after updating Godot +python update_mavlink.py # after updating MAVLink dialect +python update_addons.py # after changing any addon submodules +scons compile_commands # after modifying SConstruct +cd project/addons/gdcef; python build.py +``` + +### Windows setup + +The most convenient way of getting a C++ compiler is via the LLVM-MinGW project (by the way, it optimizes the binary more). +Download the `llvm-mingw-...-msvcrt-x86_64.zip` from the [Releases page](https://github.com/mstorsjo/llvm-mingw/releases). +Unzip the archive to some location you like, and add its `bin` folder to `Path` using the "Edit environment variables for your account" program. + +### Build + +To build the GDExtension binary run SCons in the repository root, the default arguments have been added to the file. + +```sh +scons +``` + +When building for Windows with MinGW-LLVM, you need to [select this compiler](https://docs.godotengine.org/en/stable/contributing/development/compiling/compiling_for_windows.html#selecting-a-compiler): + +```powershell +scons platform=windows use_mingw=yes use_llvm=yes +``` + +## Roadmap + +- Try to have some acceptable setup for Varjo even without the tracker +- Rework the fly area + - Make it bigger + - Keep it square to avoid assymetric geometry + - Don't use the flat plane, just flatten the terrain + - Make the terrain mostly green, but add some small patches of different color +- Fix z-figthing when looking at the runway from afar +- Reduce pixel artifacts + - Adjust antialiasing + - Ensure there are mipmaps and they're used diff --git a/mise.toml b/mise.toml deleted file mode 100644 index 8f8d3d7..0000000 --- a/mise.toml +++ /dev/null @@ -1,3 +0,0 @@ -[tools] -clangd = "latest" -"pipx:scons" = "latest" diff --git a/project/ads33-terrain/Cones_scene_terrain.tscn b/project/ads33-terrain/Cones_scene_terrain.tscn index d55a8ce..7d7ce4b 100644 --- a/project/ads33-terrain/Cones_scene_terrain.tscn +++ b/project/ads33-terrain/Cones_scene_terrain.tscn @@ -1264,11 +1264,9 @@ surface_material_override/0 = SubResource("StandardMaterial3D_073i7") [node name="Cone80cm" parent="Sidestep/Marques_0ft" instance=ExtResource("2_hj5f7")] transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -2.438) -visible = false [node name="Cone80cm3" parent="Sidestep/Marques_0ft" instance=ExtResource("2_hj5f7")] transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 2.438) -visible = false [node name="Carre_ext_400ft" type="Node3D" parent="Sidestep"] transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 121.92, 0, 0) diff --git a/project/aircraft/aircraft.gd b/project/aircraft/aircraft.gd index 5e01092..9ecfbde 100644 --- a/project/aircraft/aircraft.gd +++ b/project/aircraft/aircraft.gd @@ -1,18 +1,15 @@ extends Node3D signal use_fallback(active: bool) -signal fog_density_changed(new_density: float) ## 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 -@export var fog_values: Array[float] = [0.0, -1.0, -2.0, -3.0, -4.0] ## Current angle of rotor rotation var _rotor_azimuth: float = 0 -var fog_index: int = 0 @onready var connector: MarshConnector = $MarshConnector @onready var skeleton: Skeleton3D = $"Mi-2/Armature/Skeleton3D" @@ -28,8 +25,6 @@ var fog_index: int = 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 @@ -48,11 +43,6 @@ func _process(delta: float) -> void: var cyc_angles_rad: Vector2 = cyclic * deg_to_rad(range_cyclic) 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()) - instruments.call("update_pfd", connector.get_aircraft(), connector.get_velocity()) # Spin the rotor only when receiving flight data if connector.get_model_connected(): @@ -68,14 +58,6 @@ func _process(delta: float) -> void: xr_origin.transform = tracker_mount.transform * tracker.transform.affine_inverse() recent_tracking.start() -func _input(event): - if event.is_action_pressed("fog_cycle"): - var step = 1 - if event is InputEventWithModifiers and event.shift_pressed: - step = -1 - # The index is updated in the signal callback to handle parameter changes - connector.fog_density = fog_values[(fog_index + step) % len(fog_values)] - # Only reset the position when tracking is lost for some time func _on_recent_tracking_timeout() -> void: xr_origin.transform = Transform3D.IDENTITY @@ -83,14 +65,3 @@ func _on_recent_tracking_timeout() -> void: func _on_vr_setup_failed() -> void: xr_camera.current = false use_fallback.emit(true) - -func _on_marsh_connector_fog_density_changed(new_density: float) -> void: - # Forward to parent - fog_density_changed.emit(new_density) - - # Round down to nearest defined value or assign the last one (so it will disable on next cycle) - # Example: -1.5 should select -2 and on next cycle it will be -3 - var new_index = fog_values.find_custom(func (d): return d <= new_density) - if new_index == -1: - new_index = len(fog_values) - 1 - fog_index = new_index diff --git a/project/aircraft/aircraft.tscn b/project/aircraft/aircraft.tscn index edd497e..d572319 100644 --- a/project/aircraft/aircraft.tscn +++ b/project/aircraft/aircraft.tscn @@ -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"] @@ -66,11 +66,11 @@ 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="."] [connection signal="use_fallback" from="." to="AttitudeRoot/PilotEyes" method="_on_aircraft_use_fallback"] [connection signal="timeout" from="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/RecentTracking" to="." method="_on_recent_tracking_timeout"] -[connection signal="fog_density_changed" from="MarshConnector" to="." method="_on_marsh_connector_fog_density_changed"] [editable path="Mi-2"] diff --git a/project/aircraft/fallback_input.gd b/project/aircraft/fallback_input.gd index ecbaade..a0cf4de 100644 --- a/project/aircraft/fallback_input.gd +++ b/project/aircraft/fallback_input.gd @@ -9,11 +9,9 @@ const CAMERA_X_ROT_MIN := deg_to_rad(-85) const CAMERA_X_ROT_MAX := deg_to_rad(70) @export var use_mouse: bool = true -@export var pov_move_speed = 0.05 var active: bool = false var initial_rotation: Vector3 -var initial_pov_position: Vector3 @onready var camera_base = $"." @onready var camera = $FallbackCamera @@ -22,7 +20,6 @@ func _ready() -> void: set_process(false) set_process_input(false) initial_rotation = camera.rotation - initial_pov_position = position func _on_aircraft_use_fallback(active_in: bool) -> void: if active_in: @@ -54,15 +51,7 @@ func _input(event): if use_mouse and event is InputEventMouseMotion: var camera_speed_this_frame = CAMERA_MOUSE_ROTATION_SPEED rotate_camera(event.relative * camera_speed_this_frame * scale_factor) - - if event.is_action_pressed("pov_reset"): - position = initial_pov_position -func _process(delta: float): - var horizontal = Input.get_vector("pov_left", "pov_right", "pov_forward", "pov_back") - var vertical = Input.get_axis("pov_down", "pov_up") - # Currently PilotEyes has Yaw 180, so horizontal axes need to be inverted - position += delta * pov_move_speed * Vector3(-horizontal.x, vertical, -horizontal.y) func rotate_camera(move): camera_base.rotate_y(-move.x) diff --git a/project/fog_controller.gd b/project/fog_controller.gd deleted file mode 100644 index 248abf7..0000000 --- a/project/fog_controller.gd +++ /dev/null @@ -1,8 +0,0 @@ -extends WorldEnvironment - -func _on_fog_density_changed(new_density: float) -> void: - if new_density == 0.0 or not is_finite(new_density): - environment.fog_enabled = false - else: - environment.fog_enabled = true - environment.fog_density = 10 ** new_density diff --git a/project/fog_controller.gd.uid b/project/fog_controller.gd.uid deleted file mode 100644 index 285eeb8..0000000 --- a/project/fog_controller.gd.uid +++ /dev/null @@ -1 +0,0 @@ -uid://6g3b2ohwbkyv diff --git a/project/instruments.gd b/project/instruments.gd index de11eba..28a25e6 100644 --- a/project/instruments.gd +++ b/project/instruments.gd @@ -1,12 +1,33 @@ extends Node -@onready var controls: Node = $SubViewport2/Controls -@onready var pfd: Node = $SubViewport/PFD +const PFD_PATH: String = "pfd#adi,vsi,alt,ias,rht,rpm,hsi" +const CONTROLS_PATH: String = "controls#collective,cyclic,rudder" -# Propagate the calls to child -func set_controls(current: Vector4): - controls.set("controls", current) -func set_trim(trim: Vector4): - controls.set("trim", trim) -func update_pfd(aircraft: Transform3D, velocity: Vector3): - pfd.call("update", aircraft, velocity) +@export var lidia_hostname: String = "localhost" +@export var lidia_port: int = 5555 + +func _ready(): + if !$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 + + 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 diff --git a/project/instruments/instruments.tscn b/project/instruments.tscn similarity index 71% rename from project/instruments/instruments.tscn rename to project/instruments.tscn index dcd9dc1..4ececc9 100644 --- a/project/instruments/instruments.tscn +++ b/project/instruments.tscn @@ -1,8 +1,6 @@ -[gd_scene load_steps=9 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="PackedScene" uid="uid://b26tu6wb2h3ce" path="res://instruments/pfd.tscn" id="2_uhiu3"] +[ext_resource type="Script" uid="uid://01bmfj4wthwg" path="res://instruments.gd" id="1_h5at3"] [sub_resource type="QuadMesh" id="QuadMesh_nowl7"] @@ -21,12 +19,15 @@ 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="."] -size = Vector2i(1024, 1024) -[node name="PFD" parent="SubViewport" instance=ExtResource("2_uhiu3")] +[node name="TextureRect" type="TextureRect" parent="SubViewport"] +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) @@ -35,7 +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) diff --git a/project/instruments/RobotoMono-LICENSE.txt b/project/instruments/RobotoMono-LICENSE.txt deleted file mode 100644 index f08da9b..0000000 --- a/project/instruments/RobotoMono-LICENSE.txt +++ /dev/null @@ -1,41 +0,0 @@ -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. diff --git a/project/instruments/RobotoMono-Regular.ttf b/project/instruments/RobotoMono-Regular.ttf deleted file mode 100644 index d9371a1..0000000 Binary files a/project/instruments/RobotoMono-Regular.ttf and /dev/null differ diff --git a/project/instruments/RobotoMono-Regular.ttf.import b/project/instruments/RobotoMono-Regular.ttf.import deleted file mode 100644 index 5f58fa5..0000000 --- a/project/instruments/RobotoMono-Regular.ttf.import +++ /dev/null @@ -1,35 +0,0 @@ -[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={} diff --git a/project/instruments/controls-background.png b/project/instruments/controls-background.png deleted file mode 100644 index 01648dd..0000000 --- a/project/instruments/controls-background.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:94045c4fc08b5d93d3a2436de2c8399341246ec157f8ac3dbf0a89806a9e0e91 -size 2842 diff --git a/project/instruments/controls-background.png.import b/project/instruments/controls-background.png.import deleted file mode 100644 index b6fb2d4..0000000 --- a/project/instruments/controls-background.png.import +++ /dev/null @@ -1,34 +0,0 @@ -[remap] - 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-const AXIS_SIZE: float = 326 - -@export var controls: Vector4: - set(value): - controls = value - current_cyclic.position.x = AXIS_SIZE / 2.0 * controls.x - current_cyclic.position.y = AXIS_SIZE / 2.0 * controls.y - current_pedals.position.x = AXIS_SIZE / 2.0 * controls.z - current_collective.position.y = -AXIS_SIZE * controls.w - -@export var trim: Vector4: - set(value): - trim = value - 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 - -@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 diff --git a/project/instruments/controls.gd.uid b/project/instruments/controls.gd.uid deleted file mode 100644 index 0a62356..0000000 --- a/project/instruments/controls.gd.uid +++ /dev/null @@ -1 +0,0 @@ -uid://ds6f8cur05ka0 diff --git a/project/instruments/controls.tscn b/project/instruments/controls.tscn deleted file mode 100644 index be77aeb..0000000 --- a/project/instruments/controls.tscn +++ /dev/null @@ -1,54 +0,0 @@ -[gd_scene load_steps=7 format=3 uid="uid://bgkpwebqksth5"] - 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-[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") diff --git a/project/instruments/current-arrow.png b/project/instruments/current-arrow.png deleted file mode 100644 index e4aa8e4..0000000 --- a/project/instruments/current-arrow.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e9f32544518014aa8fbb852c82b5a9a32e78cc96724a095e261f3bb870602e4a -size 1228 diff --git a/project/instruments/current-arrow.png.import b/project/instruments/current-arrow.png.import deleted file mode 100644 index 430c1a0..0000000 --- a/project/instruments/current-arrow.png.import +++ /dev/null @@ -1,34 +0,0 @@ -[remap] - 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-importer="texture" -type="CompressedTexture2D" -uid="uid://toojp8r3424r" -path="res://.godot/imported/pfd-ref.png-18e0fc5274406321f68279cb4defcf25.ctex" -metadata={ -"vram_texture": false -} - -[deps] - -source_file="res://instruments/pfd-ref.png" -dest_files=["res://.godot/imported/pfd-ref.png-18e0fc5274406321f68279cb4defcf25.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 diff --git a/project/instruments/pfd.gd b/project/instruments/pfd.gd deleted file mode 100644 index 43790a0..0000000 --- a/project/instruments/pfd.gd +++ /dev/null @@ -1,58 +0,0 @@ -@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 - 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) - - const mps_to_kt = 1.94384 - var v_local = aircraft.basis.inverse() * velocity - airspeed = max(0, v_local.z) * mps_to_kt - var v_horizontal = Vector3(velocity.x, 0, velocity.z) - groundspeed = v_horizontal.length() * mps_to_kt - - const mps_to_fpm = 196.848 - climbrate = velocity.y * mps_to_fpm - - const m_to_ft = 3.2808 - altitude = aircraft.origin.y * m_to_ft diff --git a/project/instruments/pfd.gd.uid b/project/instruments/pfd.gd.uid deleted file mode 100644 index fbc3cd3..0000000 --- a/project/instruments/pfd.gd.uid +++ /dev/null @@ -1 +0,0 @@ -uid://368tfiyen071 diff --git a/project/instruments/pfd.tscn b/project/instruments/pfd.tscn deleted file mode 100644 index 306ed2a..0000000 --- a/project/instruments/pfd.tscn +++ /dev/null @@ -1,103 +0,0 @@ -[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") diff --git a/project/instruments/trim-long.png b/project/instruments/trim-long.png deleted file mode 100644 index 0a52de6..0000000 --- a/project/instruments/trim-long.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6f57cf6e93c3c68e48afdc3ee078c28c9f3292d4303a7fcc0ec51e1651d33e3a -size 2108 diff --git a/project/instruments/trim-long.png.import b/project/instruments/trim-long.png.import deleted file mode 100644 index fbfafb1..0000000 --- a/project/instruments/trim-long.png.import +++ /dev/null @@ -1,34 +0,0 @@ -[remap] - -importer="texture" -type="CompressedTexture2D" -uid="uid://c561m3pvc0kop" -path="res://.godot/imported/trim-long.png-0b9b67642209f6a2ae4b2165f3b33d5d.ctex" -metadata={ -"vram_texture": false -} - -[deps] - -source_file="res://instruments/trim-long.png" -dest_files=["res://.godot/imported/trim-long.png-0b9b67642209f6a2ae4b2165f3b33d5d.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 diff --git a/project/instruments/trim-short.png b/project/instruments/trim-short.png deleted file mode 100644 index f54ccfb..0000000 --- a/project/instruments/trim-short.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fa70ce3b0fa0c5716ba0e771877eb8499cdd33d8b0c7478bea1c91b79b32e6b1 -size 1265 diff --git a/project/instruments/trim-short.png.import b/project/instruments/trim-short.png.import deleted file mode 100644 index 9777f63..0000000 --- a/project/instruments/trim-short.png.import +++ /dev/null @@ -1,34 +0,0 @@ -[remap] - -importer="texture" -type="CompressedTexture2D" -uid="uid://dytpn8rcdimr" -path="res://.godot/imported/trim-short.png-707c75166ad2d77e18c02dc4882968b1.ctex" -metadata={ -"vram_texture": false -} - -[deps] - -source_file="res://instruments/trim-short.png" -dest_files=["res://.godot/imported/trim-short.png-707c75166ad2d77e18c02dc4882968b1.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 diff --git a/project/main.tscn b/project/main.tscn index 364a3b0..1f92149 100644 --- a/project/main.tscn +++ b/project/main.tscn @@ -1,8 +1,7 @@ -[gd_scene load_steps=8 format=3 uid="uid://crq3o0eu4y8ya"] +[gd_scene load_steps=7 format=3 uid="uid://crq3o0eu4y8ya"] [ext_resource type="Script" uid="uid://dfcjdxesyn3l0" path="res://start_vr.gd" id="1_ig7tw"] [ext_resource type="PackedScene" uid="uid://bj1s0g7ixjw71" path="res://aircraft/aircraft.tscn" id="2_0xm2m"] -[ext_resource type="Script" uid="uid://6g3b2ohwbkyv" path="res://fog_controller.gd" id="3_1bvp3"] [ext_resource type="PackedScene" uid="uid://bchcr54i3piaw" path="res://ads33-terrain/Cones_scene_terrain.tscn" id="3_h2yge"] [sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_7dm0k"] @@ -13,10 +12,6 @@ sky_material = SubResource("ProceduralSkyMaterial_7dm0k") [sub_resource type="Environment" id="Environment_0xm2m"] background_mode = 2 sky = SubResource("Sky_ig7tw") -fog_enabled = true -fog_sun_scatter = 0.5 -fog_density = 0.0 -fog_depth_end = 80.0 [node name="Main" type="Node3D"] @@ -26,7 +21,6 @@ fog_depth_end = 80.0 [node name="WorldEnvironment" type="WorldEnvironment" parent="."] environment = SubResource("Environment_0xm2m") -script = ExtResource("3_1bvp3") [node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] transform = Transform3D(0.866025, 0.433013, 0.25, 0, -0.5, 0.866025, 0.5, -0.75, -0.433013, -5, 5, -5) @@ -35,5 +29,4 @@ shadow_enabled = true [node name="StartVR" type="Node3D" parent="."] script = ExtResource("1_ig7tw") -[connection signal="fog_density_changed" from="Aircraft" to="WorldEnvironment" method="_on_fog_density_changed"] [connection signal="setup_failed" from="StartVR" to="Aircraft" method="_on_vr_setup_failed"] diff --git a/project/project.godot b/project/project.godot index 5f7adb8..a75ba2f 100644 --- a/project/project.godot +++ b/project/project.godot @@ -25,68 +25,19 @@ window/stretch/mode="viewport" enabled=PackedStringArray() -[input] - -pov_up={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":69,"key_label":0,"unicode":101,"location":0,"echo":false,"script":null) -] -} -pov_down={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":67,"key_label":0,"unicode":99,"location":0,"echo":false,"script":null) -] -} -pov_forward={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"location":0,"echo":false,"script":null) -] -} -pov_back={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"location":0,"echo":false,"script":null) -] -} -pov_right={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"location":0,"echo":false,"script":null) -] -} -pov_left={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"location":0,"echo":false,"script":null) -] -} -pov_reset={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":81,"key_label":0,"unicode":113,"location":0,"echo":false,"script":null) -] -} -fog_cycle={ -"deadzone": 0.2, -"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":70,"key_label":0,"unicode":102,"location":0,"echo":false,"script":null) -] -} - [physics] common/enable_object_picking=false [rendering] -textures/canvas_textures/default_texture_filter=2 renderer/rendering_method="gl_compatibility" renderer/rendering_method.mobile="gl_compatibility" -lights_and_shadows/directional_shadow/size=8192 -lights_and_shadows/directional_shadow/soft_shadow_filter_quality=3 -lights_and_shadows/positional_shadow/soft_shadow_filter_quality=3 anti_aliasing/quality/msaa_2d=1 anti_aliasing/quality/msaa_3d=1 -lights_and_shadows/positional_shadow/atlas_size=8192 [xr] -openxr/enabled=true openxr/reference_space=2 openxr/foveation_level=3 shaders/enabled=true diff --git a/src/marshconnector.cpp b/src/marshconnector.cpp index 00edf56..3f66679 100644 --- a/src/marshconnector.cpp +++ b/src/marshconnector.cpp @@ -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" @@ -27,20 +26,16 @@ #include "mavlink/mavlink_types.h" #include #include -#include 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); 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"), @@ -53,15 +48,6 @@ void MarshConnector::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::STRING, "hostname"), "set_hostname", "get_hostname"); - ClassDB::bind_method(D_METHOD("get_fog_density"), - &MarshConnector::get_fog_density); - ClassDB::bind_method(D_METHOD("set_fog_density", "p_fog_density"), - &MarshConnector::set_fog_density); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "fog_density"), "set_fog_density", - "get_fog_density"); - ADD_SIGNAL(MethodInfo("fog_density_changed", - PropertyInfo(Variant::FLOAT, "new_density"))); - // Timer callbacks ClassDB::bind_method(D_METHOD("send_heartbeat"), &MarshConnector::send_heartbeat); @@ -195,9 +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; @@ -252,13 +235,6 @@ Transform3D MarshConnector::get_aircraft() { return offset * marsh; } -Vector3 MarshConnector::get_velocity() { - float heading_rad = parameters[NAV_OFS_HDG] * Math_PI / 180.0; - // To rotate clockwise looking from above, that's negative Y in Godot - Quaternion heading_offset = Quaternion(Vector3(0, 1, 0), -heading_rad); - return heading_offset.xform(last_velocity); -} - Vector2 MarshConnector::get_cyclic() { return Vector2{last_controls.x, last_controls.y}; } @@ -267,21 +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; } - -float MarshConnector::get_fog_density() { return parameters[FOG_DENSITY]; } - -void MarshConnector::set_fog_density(float density) { - if (density == parameters[FOG_DENSITY]) - return; - - parameters[FOG_DENSITY] = density; - emit_signal("fog_density_changed", density); - send_param(FOG_DENSITY); -} - bool MarshConnector::get_manager_connected() { return manager_connected; } bool MarshConnector::get_model_connected() { return model_connected; } @@ -302,10 +263,6 @@ Vector2 MarshConnector::local_meters_from_global_degrees(double latitude, // Y East is just length along the circle of latitude double y = (lon - lon0) * (EARTH_RADIUS * cos(lat0)); - const double map_size = 3000.0; - x = (Math::fract(x / map_size + 0.5) - 0.5) * map_size; - y = (Math::fract(y / map_size + 0.5) - 0.5) * map_size; - return Vector2(x, y); } void MarshConnector::handle_sim_state(mavlink_message_t message) { @@ -325,8 +282,6 @@ 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, @@ -437,11 +392,7 @@ void MarshConnector::handle_param(mavlink_message_t message) { if (param_value.has_value()) { // TODO: Verify the value before updating - if (i == FOG_DENSITY) { - set_fog_density(*param_value); - } else { - parameters[i] = *param_value; - } + parameters[i] = *param_value; } send_param(Parameter{i}); } @@ -452,11 +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; @@ -485,22 +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; @@ -511,16 +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(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); } } @@ -529,29 +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(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; diff --git a/src/marshconnector.h b/src/marshconnector.h index 2de3a7d..897300a 100644 --- a/src/marshconnector.h +++ b/src/marshconnector.h @@ -39,21 +39,12 @@ 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 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(); - - // Get current fog density as set in the parameter - float get_fog_density(); - void set_fog_density(float value); // Is there a connection to MARSH Manager bool get_manager_connected(); @@ -85,7 +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(); @@ -98,7 +88,7 @@ private: // Not an enum class on purpose, to make use more convenient, it's scoped // inside the class namespace anyway enum Parameter : uint16_t { - FOG_DENSITY, + // FOG_DENSITY, NAV_OFS_HDG, NAV_OFS_X, NAV_OFS_Y, @@ -106,25 +96,21 @@ private: LOCAL_FRAME_LON, PARAM_COUNT, }; - float parameters[PARAM_COUNT] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + float parameters[PARAM_COUNT] = {0.0, 0.0, 0.0, 0.0, 0.0}; const String parameter_names[PARAM_COUNT] = { - "FOG_DENSITY", "NAV_OFS_HDG", "NAV_OFS_X", - "NAV_OFS_Y", "LOCAL_FRAME_LAT", "LOCAL_FRAME_LON", + // "FOG_DENSITY", + "NAV_OFS_HDG", "NAV_OFS_X", "NAV_OFS_Y", + "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; - Vector3 last_velocity; Vector4 last_controls; - Vector4 last_trim; double time_passed; Timer *heartbeat_timer;