Track connection to manager and receive MANUAL_CONTROL

Much simpler XR setup based on Bastiaan Olij's Dev stream 58
Correctly applied bone deformation in Mi-2 model

.gitattributes

@@ -1,2 +1,6 @@
 # Normalize EOL for all files that Git considers text files.
 * text=auto eol=lf
+*.glb filter=lfs diff=lfs merge=lfs -text
+*.fbx filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text

.godot-version

@@ -0,0 +1 @@
+4.4-beta3

README.md

@@ -12,7 +12,7 @@ git clone --recurse-submodules <address of this repository>
 git submodule update --init --recursive
 ```
 
-Using Godot v4.4.beta1.official [d33da79d3](https://github.com/godotengine/godot/commit/d33da79d3f8fe84be2521d25b9ba8e440cf25a88).
+Using Godot v4.4 beta3 (expect it to change often until 4.4 is released)
 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).
 
@@ -29,9 +29,9 @@ Some files are generated, run the following commands on first setup and when dep
 
 ```sh
 godot --dump-extension-api  # after updating Godot
-scons compile_commands      # after modifying SConstruct
 python update_mavlink.py    # after updating MAVLink dialect
 python update_addons.py     # after changing any addon submodules
+scons compile_commands      # after modifying SConstruct
 ```
 
 ### Windows setup

project/CREDITS.txt

@@ -0,0 +1,6 @@
+Programming:
+	Marek S. Łukasiewicz
+
+3D models:
+	Igor Samek
+	Marek S. Łukasiewicz

project/addons/godot-xr-tools/plugin.gd.uid

@@ -1 +0,0 @@
-uid://46i64f2dmonl

project/addons/godot-xr-tools/xr_tools.gd.uid

@@ -1 +0,0 @@
-uid://c086s0jrgaiwi

project/aircraft.gd

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

project/aircraft/aircraft.gd

@@ -0,0 +1,19 @@
+extends Node3D
+
+@onready var connector = $MarshConnector
+@onready var skeleton = $"Mi-2/Armature/Skeleton3D"
+@onready var attitude_root = $AttitudeRoot
+
+@onready var bone_cg: int = skeleton.find_bone("BodyCG")
+
+func _process(_delta: float) -> void:
+	var target: Transform3D = connector.get_aircraft()
+	position = target.origin
+	
+	# Add the rotation to the bone
+	var rest = skeleton.get_bone_rest(bone_cg).basis.get_rotation_quaternion()
+	var attitude = target.basis.get_rotation_quaternion()
+	skeleton.set_bone_pose_rotation(bone_cg, attitude * rest)
+
+	# Rotate other children (not using BoneAttachment3D due to jitter)
+	attitude_root.rotation = target.basis.get_euler()

project/aircraft/aircraft.tscn

@@ -0,0 +1,26 @@
+[gd_scene load_steps=4 format=3 uid="uid://bj1s0g7ixjw71"]
+
+[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"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_mrxe8"]
+
+[node name="Aircraft" type="Node3D"]
+script = ExtResource("1_l4uib")
+
+[node name="Mi-2" parent="." instance=ExtResource("1_mrxe8")]
+
+[node name="Łopata" parent="Mi-2/Armature/Skeleton3D" index="16"]
+material_override = SubResource("StandardMaterial3D_mrxe8")
+
+[node name="AttitudeRoot" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.4, 0)
+
+[node name="XROrigin3D" type="XROrigin3D" parent="AttitudeRoot"]
+transform = Transform3D(-1, 0, -8.74227e-08, 0, 0.999999, 0, 8.74228e-08, 0, -0.999999, 0.214, -0.721897, 1.53478)
+
+[node name="XRCamera3D" type="XRCamera3D" parent="AttitudeRoot/XROrigin3D"]
+
+[node name="MarshConnector" type="MarshConnector" parent="."]
+
+[editable path="Mi-2"]

project/assets/cone/Cone80cm.fbx.import

@@ -0,0 +1,38 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://b6gpwum12u52w"
+path="res://.godot/imported/Cone80cm.fbx-d949dbbc55b52604489414c5f9df328e.scn"
+
+[deps]
+
+source_file="res://assets/cone/Cone80cm.fbx"
+dest_files=["res://.godot/imported/Cone80cm.fbx-d949dbbc55b52604489414c5f9df328e.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=true
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+_subresources={}
+fbx/importer=0
+fbx/allow_geometry_helper_nodes=false
+fbx/embedded_image_handling=1

project/assets/cone/Cone_DefaultMaterial_BaseColor.webp.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://8d1ovbs1uls5"
+path="res://.godot/imported/Cone_DefaultMaterial_BaseColor.webp-bad00f3f7b1863582144eaca57549c7d.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/cone/Cone_DefaultMaterial_BaseColor.webp"
+dest_files=["res://.godot/imported/Cone_DefaultMaterial_BaseColor.webp-bad00f3f7b1863582144eaca57549c7d.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/assets/cone/Cone_DefaultMaterial_Normal.webp.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://cq5sci0t8q0hy"
+path="res://.godot/imported/Cone_DefaultMaterial_Normal.webp-6a67b945c81f799997551ce26f4f31c8.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/cone/Cone_DefaultMaterial_Normal.webp"
+dest_files=["res://.godot/imported/Cone_DefaultMaterial_Normal.webp-6a67b945c81f799997551ce26f4f31c8.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/assets/cone/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://0x0t6mks64wj"
+path="res://.godot/imported/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp-1a5b8b1d7a0eb8a9d7d6e168dd7479db.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/cone/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp"
+dest_files=["res://.godot/imported/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp-1a5b8b1d7a0eb8a9d7d6e168dd7479db.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/assets/cone/cone.tscn

@@ -0,0 +1,9 @@
+[gd_scene load_steps=3 format=3 uid="uid://7tddcx4u26w4"]
+
+[ext_resource type="PackedScene" uid="uid://b6gpwum12u52w" path="res://assets/cone/Cone80cm.fbx" id="1_caoip"]
+[ext_resource type="Material" uid="uid://8my138hapqp8" path="res://assets/cone/cone_material.tres" id="2_pk7h2"]
+
+[node name="Cone80cm" instance=ExtResource("1_caoip")]
+
+[node name="Cylinder" parent="." index="0"]
+surface_material_override/0 = ExtResource("2_pk7h2")

project/assets/cone/cone_material.tres

@@ -0,0 +1,28 @@
+[gd_resource type="StandardMaterial3D" load_steps=6 format=3 uid="uid://8my138hapqp8"]
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_2wwbo"]
+load_path = "res://.godot/imported/Cone_DefaultMaterial_BaseColor.webp-bad00f3f7b1863582144eaca57549c7d.ctex"
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_86lm8"]
+load_path = "res://.godot/imported/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp-1a5b8b1d7a0eb8a9d7d6e168dd7479db.ctex"
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_c2qq7"]
+load_path = "res://.godot/imported/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp-1a5b8b1d7a0eb8a9d7d6e168dd7479db.ctex"
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_f28vr"]
+load_path = "res://.godot/imported/Cone_DefaultMaterial_Normal.webp-6a67b945c81f799997551ce26f4f31c8.ctex"
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_tpcsw"]
+load_path = "res://.godot/imported/Cone_DefaultMaterial_OcclusionRoughnessMetallic.webp-1a5b8b1d7a0eb8a9d7d6e168dd7479db.ctex"
+
+[resource]
+albedo_texture = SubResource("CompressedTexture2D_2wwbo")
+metallic = 1.0
+metallic_texture = SubResource("CompressedTexture2D_c2qq7")
+metallic_texture_channel = 2
+roughness_texture = SubResource("CompressedTexture2D_tpcsw")
+roughness_texture_channel = 1
+normal_enabled = true
+normal_texture = SubResource("CompressedTexture2D_f28vr")
+ao_enabled = true
+ao_texture = SubResource("CompressedTexture2D_86lm8")

project/assets/mi2/Mi-2.glb.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://cux4tju0ovvly"
+path="res://.godot/imported/Mi-2.glb-12197697bde557481ecf457851b9e618.scn"
+
+[deps]
+
+source_file="res://assets/mi2/Mi-2.glb"
+dest_files=["res://.godot/imported/Mi-2.glb-12197697bde557481ecf457851b9e618.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+_subresources={}
+gltf/naming_version=1
+gltf/embedded_image_handling=1

project/main-xr.tscn

@@ -1,42 +0,0 @@
-[gd_scene load_steps=8 format=3 uid="uid://cx82op4eecbwr"]
-
-[ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft.gd" id="1_hips3"]
-[ext_resource type="PackedScene" uid="uid://qbmx03iibuuu" path="res://addons/godot-xr-tools/staging/scene_base.tscn" id="1_k0lu6"]
-
-[sub_resource type="BoxMesh" id="BoxMesh_2w36v"]
-
-[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_4tcqf"]
-
-[sub_resource type="Sky" id="Sky_0xm2m"]
-sky_material = SubResource("ProceduralSkyMaterial_4tcqf")
-
-[sub_resource type="Environment" id="Environment_jdgxj"]
-background_mode = 2
-sky = SubResource("Sky_0xm2m")
-
-[sub_resource type="CameraAttributesPractical" id="CameraAttributesPractical_fpvso"]
-
-[node name="SceneBase" instance=ExtResource("1_k0lu6")]
-
-[node name="XROrigin3D" parent="." index="0"]
-transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0, 0, -3)
-
-[node name="MarshConnector" type="MarshConnector" parent="." index="1"]
-process_mode = 0
-
-[node name="Aircraft" type="Node3D" parent="." index="2" node_paths=PackedStringArray("connector")]
-script = ExtResource("1_hips3")
-connector = NodePath("../MarshConnector")
-
-[node name="MeshInstance3D" type="MeshInstance3D" parent="Aircraft" index="0"]
-mesh = SubResource("BoxMesh_2w36v")
-
-[node name="Camera3D" type="Camera3D" parent="." index="3"]
-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="." index="4"]
-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="." index="5"]
-environment = SubResource("Environment_jdgxj")
-camera_attributes = SubResource("CameraAttributesPractical_fpvso")

project/main.tscn

@@ -1,38 +1,27 @@
-[gd_scene load_steps=7 format=3 uid="uid://cjrkxv8ix1h8s"]
+[gd_scene load_steps=6 format=3 uid="uid://crq3o0eu4y8ya"]
 
-[ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft.gd" id="1_ig7tw"]
+[ext_resource type="Script" path="res://start_vr.gd" id="1_ig7tw"]
+[ext_resource type="PackedScene" uid="uid://bj1s0g7ixjw71" path="res://aircraft/aircraft.tscn" id="2_0xm2m"]
 
-[sub_resource type="BoxMesh" id="BoxMesh_0xm2m"]
+[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_7dm0k"]
 
-[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_ig7tw"]
+[sub_resource type="Sky" id="Sky_ig7tw"]
+sky_material = SubResource("ProceduralSkyMaterial_7dm0k")
 
-[sub_resource type="Sky" id="Sky_0xm2m"]
+[sub_resource type="Environment" id="Environment_0xm2m"]
-sky_material = SubResource("ProceduralSkyMaterial_ig7tw")
-
-[sub_resource type="Environment" id="Environment_ig7tw"]
 background_mode = 2
-sky = SubResource("Sky_0xm2m")
+sky = SubResource("Sky_ig7tw")
-
-[sub_resource type="CameraAttributesPractical" id="CameraAttributesPractical_0xm2m"]
 
 [node name="Main" type="Node3D"]
 
-[node name="MarshConnector" type="MarshConnector" parent="."]
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
-process_mode = 0
+environment = SubResource("Environment_0xm2m")
-
-[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)
+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="."]
+[node name="StartVR" type="Node3D" parent="."]
-environment = SubResource("Environment_ig7tw")
+script = ExtResource("1_ig7tw")
-camera_attributes = SubResource("CameraAttributesPractical_0xm2m")
+maximum_refresh_rate = 144
+
+[node name="Aircraft" parent="." instance=ExtResource("2_0xm2m")]

project/openxr_action_map.tres

@@ -1,4 +1,4 @@
-[gd_resource type="OpenXRActionMap" load_steps=417 format=3 uid="uid://c52lwapbt6wt2"]
+[gd_resource type="OpenXRActionMap" load_steps=417 format=3 uid="uid://5a62ftnefy7o"]
 
 [sub_resource type="OpenXRAction" id="OpenXRAction_6ivru"]
 resource_name = "trigger"

project/project.godot

@@ -11,18 +11,13 @@ config_version=5
 [application]
 
 config/name="Visualisation for MARSH"
-run/main_scene="uid://ba764fx7hx8ei"
+run/main_scene="uid://crq3o0eu4y8ya"
 config/features=PackedStringArray("4.4", "GL Compatibility")
 config/icon="res://icon.svg"
 
-[autoload]
-
-XRToolsUserSettings="*res://addons/godot-xr-tools/user_settings/user_settings.gd"
-XRToolsRumbleManager="*res://addons/godot-xr-tools/rumble/rumble_manager.gd"
-
 [editor_plugins]
 
-enabled=PackedStringArray("res://addons/godot-xr-tools/plugin.cfg")
+enabled=PackedStringArray()
 
 [physics]
 
@@ -36,4 +31,6 @@ renderer/rendering_method.mobile="gl_compatibility"
 [xr]
 
 openxr/enabled=true
+openxr/reference_space=0
+openxr/foveation_level=3
 shaders/enabled=true

project/start-xr.tscn

@@ -1,11 +0,0 @@
-[gd_scene load_steps=3 format=3 uid="uid://ba764fx7hx8ei"]
-
-[ext_resource type="PackedScene" uid="uid://bnqnnnet4dw12" path="res://addons/godot-xr-tools/staging/staging.tscn" id="1_hips3"]
-[ext_resource type="Texture2D" uid="uid://ftrrxm7sxndi" path="res://assets/splash/splash.png" id="2_k0lu6"]
-
-[node name="Staging" instance=ExtResource("1_hips3")]
-main_scene = "uid://cx82op4eecbwr"
-prompt_for_continue = false
-
-[node name="LoadingScreen" parent="." index="2"]
-splash_screen = ExtResource("2_k0lu6")

project/start_vr.gd

@@ -0,0 +1,112 @@
+extends Node3D
+
+signal focus_lost
+signal focus_gained
+signal pose_recentered
+
+@export var maximum_refresh_rate : int = 90
+
+var xr_interface : OpenXRInterface
+var xr_is_focused := false
+
+
+func _ready() -> void:
+	xr_interface = XRServer.find_interface("OpenXR")
+	if xr_interface and xr_interface.is_initialized():
+		print("OpenXR instantiated successfully.")
+		var vp : Viewport = get_viewport()
+
+		# Enable XR on our viewport.
+		vp.use_xr = true
+
+		# Make sure V-Sync is off, as V-Sync is handled by OpenXR.
+		DisplayServer.window_set_vsync_mode(DisplayServer.VSYNC_DISABLED)
+
+		# Enable variable rate shading.
+		if RenderingServer.get_rendering_device():
+			vp.vrs_mode = Viewport.VRS_XR
+		elif int(ProjectSettings.get_setting("xr/openxr/foveation_level")) == 0:
+			push_warning("OpenXR: Recommend setting Foveation level to High in Project Settings")
+
+		# Connect the OpenXR events.
+		xr_interface.session_begun.connect(_on_openxr_session_begun)
+		xr_interface.session_visible.connect(_on_openxr_visible_state)
+		xr_interface.session_focussed.connect(_on_openxr_focused_state)
+		xr_interface.session_stopping.connect(_on_openxr_stopping)
+		xr_interface.pose_recentered.connect(_on_openxr_pose_recentered)
+	else:
+		# We couldn't start OpenXR.
+		print("OpenXR not instantiated!")
+		get_tree().quit()
+
+
+# Handle OpenXR session ready.
+func _on_openxr_session_begun() -> void:
+	# Get the reported refresh rate.
+	var current_refresh_rate := xr_interface.get_display_refresh_rate()
+	if current_refresh_rate > 0:
+		print("OpenXR: Refresh rate reported as ", str(current_refresh_rate))
+	else:
+		print("OpenXR: No refresh rate given by XR runtime")
+
+	# See if we have a better refresh rate available.
+	var new_rate := current_refresh_rate
+	var available_rates: Array = xr_interface.get_available_display_refresh_rates()
+	if available_rates.is_empty():
+		print("OpenXR: Target does not support refresh rate extension")
+	elif available_rates.size() == 1:
+		# Only one available, so use it.
+		new_rate = available_rates[0]
+	else:
+		for rate in available_rates:
+			if rate > new_rate and rate <= maximum_refresh_rate:
+				new_rate = rate
+
+	# Did we find a better rate?
+	if current_refresh_rate != new_rate:
+		print("OpenXR: Setting refresh rate to ", str(new_rate))
+		xr_interface.set_display_refresh_rate(new_rate)
+		current_refresh_rate = new_rate
+
+	# Now match our physics rate. This is currently needed to avoid jittering,
+	# due to physics interpolation not being used.
+	Engine.physics_ticks_per_second = roundi(current_refresh_rate)
+
+
+# Handle OpenXR visible state.
+func _on_openxr_visible_state() -> void:
+	# We always pass this state at startup,
+	# but the second time we get this, it means our player took off their headset.
+	if xr_is_focused:
+		print("OpenXR lost focus")
+
+		xr_is_focused = false
+
+		# Pause our game.
+		process_mode = Node.PROCESS_MODE_DISABLED
+
+		focus_lost.emit()
+
+
+# Handle OpenXR focused state
+func _on_openxr_focused_state() -> void:
+	print("OpenXR gained focus")
+	xr_is_focused = true
+
+	# Unpause our game.
+	process_mode = Node.PROCESS_MODE_INHERIT
+
+	focus_gained.emit()
+
+
+# Handle OpenXR stopping state.
+func _on_openxr_stopping() -> void:
+	# Our session is being stopped.
+	print("OpenXR is stopping")
+
+
+# Handle OpenXR pose recentered signal.
+func _on_openxr_pose_recentered() -> void:
+	# User recentered view, we have to react to this by recentering the view.
+	# This is game implementation dependent.
+	pose_recentered.emit()

project/start_vr.gd.uid

@@ -0,0 +1 @@
+uid://dfcjdxesyn3l0

src/marshconnector.cpp

@@ -2,6 +2,7 @@
 
 #include "godot_cpp/classes/engine.hpp"
 #include "godot_cpp/classes/font_file.hpp"
+#include "godot_cpp/classes/global_constants.hpp"
 #include "godot_cpp/classes/packet_peer_udp.hpp"
 #include "godot_cpp/core/math.hpp"
 #include "godot_cpp/core/memory.hpp"
@@ -12,18 +13,29 @@
 #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_command_long.h"
+#include "mavlink/common/mavlink_msg_manual_control.h"
 #include "mavlink/common/mavlink_msg_sim_state.h"
 #include "mavlink/mavlink_helpers.h"
-
+#include "mavlink/mavlink_types.h"
-// How much extra bytes are needed on top of message payload length
-#define MAVLINK_OVERHEAD 12
 
 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_cyclic"), &MarshConnector::get_cyclic);
+  ClassDB::bind_method(D_METHOD("get_collective"),
+                       &MarshConnector::get_collective);
+  ClassDB::bind_method(D_METHOD("get_pedals"), &MarshConnector::get_pedals);
+
+  // Timer callbacks
   ClassDB::bind_method(D_METHOD("send_heartbeat"),
                        &MarshConnector::send_heartbeat);
-  ClassDB::bind_method(D_METHOD("get_aircraft"), &MarshConnector::get_aircraft);
+  ClassDB::bind_method(D_METHOD("manager_timeout"),
+                       &MarshConnector::manager_timeout);
+  // ClassDB::bind_method(D_METHOD("model_timeout"),
+  //                      &MarshConnector::model_timeout);
 }
 
 MarshConnector::MarshConnector() {
@@ -39,10 +51,14 @@ MarshConnector::MarshConnector() {
 
   socket = memnew(PacketPeerUDP);
 
-  if (Engine::get_singleton()->is_editor_hint()) {
+  manager_connected = false;
-    // Don't run _process() in the editor
+
-    set_process_mode(Node::ProcessMode::PROCESS_MODE_DISABLED);
+  manager_timer = memnew(Timer);
-  }
+  add_child(manager_timer);
+  manager_timer->set_wait_time(5.0);
+  manager_timer->set_one_shot(true);
+  manager_timer->set_autostart(false);
+  manager_timer->connect("timeout", Callable(this, "manager_timeout"));
 }
 
 MarshConnector::~MarshConnector() {
@@ -65,7 +81,7 @@ void MarshConnector::_process(double delta) {
 }
 
 Error MarshConnector::send_heartbeat() {
-  print_line("Sending HEARTBEAT at ", time_passed, " seconds");
+  // print_line("Sending HEARTBEAT at ", time_passed, " seconds");
 
   mavlink_heartbeat_t heartbeat;
   heartbeat.type = MAV_TYPE_HELICOPTER;
@@ -77,17 +93,19 @@ Error MarshConnector::send_heartbeat() {
   mavlink_message_t message;
   mavlink_msg_heartbeat_encode_chan(1, MARSH_COMP_ID_VISUALISATION,
                                     MAVLINK_COMM_0, &message, &heartbeat);
-  uint8_t send_buffer[MAVLINK_OVERHEAD + MAVLINK_MSG_ID_HEARTBEAT_LEN];
+  return send_message(message);
+}
+
+Error MarshConnector::send_message(mavlink_message_t message) {
+  uint8_t send_buffer[MAVLINK_MAX_PACKET_LEN];
   mavlink_msg_to_send_buffer(send_buffer, &message);
 
   PackedByteArray array;
   for (int i = 0; i < sizeof(send_buffer); i++) {
     array.append(send_buffer[i]);
   }
-  print_line("Data array ", array);
 
   const auto result = socket->put_packet(array);
-  print_line("Send result ", result);
   return result;
 }
 
@@ -114,6 +132,12 @@ void MarshConnector::receive_data(const PackedByteArray &data) {
       case MAVLINK_MSG_ID_PARAM_SET:
         handle_param(message);
         break;
+      case MAVLINK_MSG_ID_MANUAL_CONTROL:
+        handle_manual_control(message);
+        break;
+      case MAVLINK_MSG_ID_HEARTBEAT:
+        handle_heartbeat(message);
+        break;
       default:
         break;
       }
@@ -135,6 +159,13 @@ Transform3D MarshConnector::get_aircraft() {
   return Transform3D{Basis{last_rotation}, last_location};
 }
 
+Vector2 MarshConnector::get_cyclic() {
+  return Vector2{last_controls.x, last_controls.y};
+}
+
+float MarshConnector::get_collective() { return last_controls.w; }
+float MarshConnector::get_pedals() { return last_controls.z; }
+
 Vector2 MarshConnector::local_meters_from_global_degrees(double latitude,
                                                          double longitude) {
 
@@ -195,13 +226,86 @@ Quaternion MarshConnector::godot_rotation_from_mavlink(float roll_rad,
 }
 
 void MarshConnector::handle_local_position(mavlink_message_t message) {
-  print_line("Implement handle_local_position");
+  if (message.msgid != MAVLINK_MSG_ID_LOCAL_POSITION_NED)
+    return;
+
+  mavlink_local_position_ned_t local_pos;
+  mavlink_msg_local_position_ned_decode(&message, &local_pos);
+  last_location =
+      godot_location_from_mavlink(local_pos.x, local_pos.y, -local_pos.z);
 }
 
 void MarshConnector::handle_attitude(mavlink_message_t message) {
-  print_line("Implement handle_attitude");
+  if (message.msgid != MAVLINK_MSG_ID_ATTITUDE)
+    return;
+
+  mavlink_attitude_t attitude;
+  mavlink_msg_attitude_decode(&message, &attitude);
+  last_rotation =
+      godot_rotation_from_mavlink(attitude.roll, attitude.pitch, attitude.yaw);
 }
 
 void MarshConnector::handle_param(mavlink_message_t message) {
   print_line("Implement handle_param");
 }
+
+void MarshConnector::handle_manual_control(mavlink_message_t message) {
+  if (message.msgid != MAVLINK_MSG_ID_MANUAL_CONTROL)
+    return;
+
+  mavlink_manual_control_t manual_control;
+  mavlink_msg_manual_control_decode(&message, &manual_control);
+  const int16_t invalid = 0x7FFF;
+  if (manual_control.y != invalid)
+    last_controls.x = manual_control.y / 1000.0f;
+  if (manual_control.x != invalid)
+    last_controls.y = manual_control.x / -1000.0f;
+  if (manual_control.r != invalid)
+    last_controls.z = manual_control.r / 1000.0f;
+  if (manual_control.z != invalid)
+    last_controls.w = manual_control.z / 1000.0f;
+}
+
+void MarshConnector::handle_heartbeat(mavlink_message_t message) {
+  if (message.msgid != MAVLINK_MSG_ID_HEARTBEAT)
+    return;
+
+  // mavlink_heartbeat_t heartbeat;
+  // mavlink_msg_heartbeat_decode(&message, &heartbeat);
+  if (message.compid == MARSH_COMP_ID_MANAGER) {
+    if (!manager_connected) {
+      print_line("Connected to MARSH Manager");
+
+      // subscribe to messages not sent to visualisation node by default
+      mavlink_command_long_t command;
+      command.target_system = 1;
+      command.target_component = MARSH_COMP_ID_MANAGER;
+      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
+
+      mavlink_message_t message_sent;
+      mavlink_msg_command_long_encode_chan(1, MARSH_COMP_ID_VISUALISATION,
+                                           MAVLINK_COMM_0, &message_sent,
+                                           &command);
+      Error result = send_message(message_sent);
+      if (result != OK) {
+        print_line("Subscribe send result ", result);
+      }
+    }
+
+    manager_connected = true;
+    manager_timer->start();
+  }
+}
+
+void MarshConnector::manager_timeout() {
+  print_line("Lost connection to MARSH Manager");
+  manager_connected = false;
+}

src/marshconnector.h

@@ -33,8 +33,25 @@ 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();
+  // 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();
+
+  // Is there a connection to MARSH Manager
+  bool get_manager_connected();
+  // Is receiving data from flight model
+  bool get_model_connected();
+
+  // Called by timer
+  void manager_timeout();
+  // // Called by timer
+  // void model_timeout();
 
   // Convert from global coordinates to local position x=north, y=east
   // taking into account current configuration.
@@ -55,6 +72,10 @@ private:
   void handle_local_position(mavlink_message_t message);
   void handle_attitude(mavlink_message_t message);
   void handle_param(mavlink_message_t message);
+  void handle_manual_control(mavlink_message_t message);
+  void handle_heartbeat(mavlink_message_t message);
+
+  Error send_message(mavlink_message_t message);
 
   // Do not specify specific values, to ensure PARAM_COUNT is correct
   // Not an enum class on purpose, to make use more convenient, it's scoped
@@ -78,10 +99,14 @@ private:
   // TODO: Interpolate with some delay
   Vector3 last_location;
   Quaternion last_rotation;
+  Vector4 last_controls;
 
   double time_passed;
   Timer *heartbeat_timer;
   PacketPeerUDP *socket;
+
+  bool manager_connected;
+  Timer *manager_timer;
 };
 
 } // namespace godot

update_addons.py

@@ -1,11 +0,0 @@
-from os import path
-from shutil import copytree
-
-# add repository root path
-root_path = path.abspath(path.dirname(__file__))
-
-copytree(
-    path.join(root_path, 'modules', 'godot-xr-tools', 'addons'),
-    path.join(root_path, 'project', 'addons'),
-    dirs_exist_ok=True,
-)