49 changed files with 181 additions and 1415 deletions
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@ -1,395 +0,0 @@
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--- a/LICENSE-MIT.txt
+++ b/LICENSE-MIT.txt
--- 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). 
+## Usage
-Other assets available under [Creative Commons Attribution 4.0 (CC-BY)](https://creativecommons.org/licenses/by/4.0/).
+
 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 <address of this repository>
 # 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
--- a/mise.toml
+++ b/mise.toml
@ -1,3 +0,0 @@
 [tools]
 clangd = "latest"
 "pipx:scons" = "latest"
--- 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)
--- 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
--- 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"]
--- 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)
--- a/project/fog_controller.gd
+++ b/project/fog_controller.gd
@ -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
--- a/project/fog_controller.gd.uid
+++ b/project/fog_controller.gd.uid
@ -1 +0,0 @@
 uid://6g3b2ohwbkyv
--- a/project/instruments.gd
+++ b/project/instruments.gd
@ -1,12 +1,33 @@
 extends Node
-@onready var controls: Node = $SubViewport2/Controls
+const PFD_PATH: String = "pfd#adi,vsi,alt,ias,rht,rpm,hsi"
-@onready var pfd: Node = $SubViewport/PFD
+const CONTROLS_PATH: String = "controls#collective,cyclic,rudder"
-# Propagate the calls to child
+@export var lidia_hostname: String = "localhost"
-func set_controls(current: Vector4):
+@export var lidia_port: int = 5555
-	controls.set("controls", current)
+
-func set_trim(trim: Vector4):
+func _ready():
-	controls.set("trim", trim)
+	if !$CEF.initialize({"incognito":true, "locale":"en-US"}):
-func update_pfd(aircraft: Transform3D, velocity: Vector3):
+		push_error($CEF.get_error())
-	pfd.call("update", aircraft, velocity)
+		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
--- a/project/instruments/instruments.tscn
+++ b/project/instruments/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="Script" uid="uid://01bmfj4wthwg" path="res://instruments.gd" id="1_h5at3"]
 [ext_resource type="PackedScene" uid="uid://bgkpwebqksth5" path="res://instruments/controls.tscn" id="2_372d7"]
 [ext_resource type="PackedScene" uid="uid://b26tu6wb2h3ce" path="res://instruments/pfd.tscn" id="2_uhiu3"]
 [sub_resource type="QuadMesh" id="QuadMesh_nowl7"]
@ -21,12 +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)
--- a/project/instruments/RobotoMono-LICENSE.txt
+++ b/project/instruments/RobotoMono-LICENSE.txt
@ -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.
--- a/project/instruments/RobotoMono-Regular.ttf
+++ b/project/instruments/RobotoMono-Regular.ttf
--- a/project/instruments/RobotoMono-Regular.ttf.import
+++ b/project/instruments/RobotoMono-Regular.ttf.import
@ -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={}
--- a/project/instruments/controls-background.png
+++ b/project/instruments/controls-background.png
--- a/project/instruments/controls-background.png.import
+++ b/project/instruments/controls-background.png.import
@ -1,34 +0,0 @@
 [remap]
 importer="texture"
 type="CompressedTexture2D"
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 compress/normal_map=0
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 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
--- a/project/instruments/controls-ref.png
+++ b/project/instruments/controls-ref.png
--- a/project/instruments/controls-ref.png.import
+++ b/project/instruments/controls-ref.png.import
@ -1,34 +0,0 @@
 [remap]
 importer="texture"
 type="CompressedTexture2D"
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 metadata={
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 }
 [deps]
 source_file="res://instruments/controls-ref.png"
 dest_files=["res://.godot/imported/controls-ref.png-ed1b9d803223424fa895ad19151b7e9f.ctex"]
 [params]
 compress/mode=0
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 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
--- a/project/instruments/controls.gd
+++ b/project/instruments/controls.gd
@ -1,30 +0,0 @@
@tool
 class_name Controls
 extends Node2D
 ## Recreate the controls page from lidia Python package
 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
--- a/project/instruments/controls.gd.uid
+++ b/project/instruments/controls.gd.uid
@ -1 +0,0 @@
 uid://ds6f8cur05ka0
--- a/project/instruments/controls.tscn
+++ b/project/instruments/controls.tscn
@ -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")
--- a/project/instruments/current-arrow.png
+++ b/project/instruments/current-arrow.png
--- a/project/instruments/current-arrow.png.import
+++ b/project/instruments/current-arrow.png.import
@ -1,34 +0,0 @@
 [remap]
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://dkda6ju5daocf"
 path="res://.godot/imported/current-arrow.png-8e092288abc9ec8d31cbc8f708a9c800.ctex"
 metadata={
 "vram_texture": false
 }
 [deps]
 source_file="res://instruments/current-arrow.png"
 dest_files=["res://.godot/imported/current-arrow.png-8e092288abc9ec8d31cbc8f708a9c800.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
--- a/project/instruments/current-dot.png
+++ b/project/instruments/current-dot.png
--- a/project/instruments/current-dot.png.import
+++ b/project/instruments/current-dot.png.import
@ -1,34 +0,0 @@
 [remap]
 importer="texture"
 type="CompressedTexture2D"
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 mipmaps/generate=false
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 roughness/src_normal=""
 process/fix_alpha_border=true
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 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
--- a/project/instruments/heading-ticks.png
+++ b/project/instruments/heading-ticks.png
--- a/project/instruments/heading-ticks.png.import
+++ b/project/instruments/heading-ticks.png.import
@ -1,34 +0,0 @@
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 importer="texture"
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 process/fix_alpha_border=true
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 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
--- a/project/instruments/horizon-mask.png
+++ b/project/instruments/horizon-mask.png
--- a/project/instruments/horizon-mask.png.import
+++ b/project/instruments/horizon-mask.png.import
@ -1,34 +0,0 @@
 [remap]
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 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
--- a/project/instruments/horizon-overlay.png
+++ b/project/instruments/horizon-overlay.png
--- a/project/instruments/horizon-overlay.png.import
+++ b/project/instruments/horizon-overlay.png.import
@ -1,34 +0,0 @@
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 roughness/mode=0
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 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
--- a/project/instruments/horizon.png
+++ b/project/instruments/horizon.png
--- a/project/instruments/horizon.png.import
+++ b/project/instruments/horizon.png.import
@ -1,34 +0,0 @@
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 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
--- a/project/instruments/pfd-background.png
+++ b/project/instruments/pfd-background.png
--- a/project/instruments/pfd-background.png.import
+++ b/project/instruments/pfd-background.png.import
@ -1,34 +0,0 @@
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 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
--- a/project/instruments/pfd-ref.png
+++ b/project/instruments/pfd-ref.png
--- a/project/instruments/pfd-ref.png.import
+++ b/project/instruments/pfd-ref.png.import
@ -1,34 +0,0 @@
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 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
--- a/project/instruments/pfd.gd
+++ b/project/instruments/pfd.gd
@ -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
--- a/project/instruments/pfd.gd.uid
+++ b/project/instruments/pfd.gd.uid
@ -1 +0,0 @@
 uid://368tfiyen071
--- a/project/instruments/pfd.tscn
+++ b/project/instruments/pfd.tscn
@ -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")
--- a/project/instruments/trim-long.png
+++ b/project/instruments/trim-long.png
--- a/project/instruments/trim-long.png.import
+++ b/project/instruments/trim-long.png.import
@ -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
--- a/project/instruments/trim-short.png
+++ b/project/instruments/trim-short.png
--- a/project/instruments/trim-short.png.import
+++ b/project/instruments/trim-short.png.import
@ -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
--- 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"]
--- 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
--- 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 <cstdint>
 #include <optional>
 #include <string.h>
 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) {
+    parameters[i] = *param_value;
      set_fog_density(*param_value);
    } else {
      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();
-
+  strcpy_s(param_value.param_id, name);
  // strncpy will write nulls after data until reaching target count
  strncpy(param_value.param_id, name, sizeof(param_value.param_id));
  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,
+      // subscribe to messages not sent to visualisation node by default
-                                       MAVLINK_MSG_ID_MANUAL_CONTROL);
+      mavlink_command_long_t command;
-      if (result != OK) {
+      command.target_system = 1;
-        print_line("Subscribe control send result ", result);
+      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_message_t message_sent;
-                                 MAVLINK_MSG_ID_MANUAL_SETPOINT);
+      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<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;
--- 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",
+      // "FOG_DENSITY",
-      "NAV_OFS_Y",   "LOCAL_FRAME_LAT", "LOCAL_FRAME_LON",
+      "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;