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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 <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

mise.toml

@@ -1,3 +0,0 @@
-[tools]
-clangd = "latest"
-"pipx:scons" = "latest"

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)

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
@@ -49,11 +44,6 @@ func _process(delta: float) -> void:
 	var cyc_att := Quaternion.from_euler(Vector3(cyc_angles_rad.y, cyc_angles_rad.x, 0))
 	skeleton.set_bone_pose_rotation(bone_cyclic, cyc_att * cyc_rest)
 
-	# Update the instruments
-	instruments.call("set_controls", connector.get_controls())
-	instruments.call("set_trim", connector.get_trim())
-	instruments.call("update_pfd", connector.get_aircraft(), connector.get_velocity())
-
 	# Spin the rotor only when receiving flight data
 	if connector.get_model_connected():
 		_rotor_azimuth += rotor_rpm * 2 * PI / 60 * delta
@@ -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

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"]

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:
@@ -55,14 +52,6 @@ func _input(event):
 		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)

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

project/fog_controller.gd.uid

@@ -1 +0,0 @@
-uid://6g3b2ohwbkyv

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

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)

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.

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]
-
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-generate_mipmaps=false
-disable_embedded_bitmaps=true
-multichannel_signed_distance_field=false
-msdf_pixel_range=8
-msdf_size=48
-allow_system_fallback=true
-force_autohinter=false
-hinting=1
-subpixel_positioning=4
-keep_rounding_remainders=true
-oversampling=0.0
-Fallbacks=null
-fallbacks=[]
-Compress=null
-compress=true
-preload=[]
-language_support={}
-script_support={}
-opentype_features={}

project/instruments/controls-background.png.import

@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://b0oeokas7mq4q"
-path="res://.godot/imported/controls-background.png-626db610a70b7b467da1123d55529d5c.ctex"
-metadata={
-"vram_texture": false
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-
-[deps]
-
-source_file="res://instruments/controls-background.png"
-dest_files=["res://.godot/imported/controls-background.png-626db610a70b7b467da1123d55529d5c.ctex"]
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-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1

project/instruments/controls-ref.png.import

@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://c5bcvbphgg1nk"
-path="res://.godot/imported/controls-ref.png-ed1b9d803223424fa895ad19151b7e9f.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/controls-ref.png"
-dest_files=["res://.godot/imported/controls-ref.png-ed1b9d803223424fa895ad19151b7e9f.ctex"]
-
-[params]
-
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-compress/lossy_quality=0.7
-compress/hdr_compression=1
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-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1

project/instruments/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

project/instruments/controls.gd.uid

@@ -1 +0,0 @@
-uid://ds6f8cur05ka0

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")

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

project/instruments/current-dot.png.import

@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://wdqnlguxmi2a"
-path="res://.godot/imported/current-dot.png-789da8759af9526ce5f8705121a1077d.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/current-dot.png"
-dest_files=["res://.godot/imported/current-dot.png-789da8759af9526ce5f8705121a1077d.ctex"]
-
-[params]
-
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-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1

project/instruments/heading-ticks.png.import

@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://c36kaqyfalb2v"
-path="res://.godot/imported/heading-ticks.png-8d0b08e5e3af463192c04d5a2068a1e0.ctex"
-metadata={
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-
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-
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-compress/normal_map=0
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-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-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
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project/instruments/horizon-mask.png.import

@@ -1,34 +0,0 @@
-[remap]
-
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-type="CompressedTexture2D"
-uid="uid://c5nbrnus8pcyd"
-path="res://.godot/imported/horizon-mask.png-03d2bafdd84b9816ae1fe68fc4baf43d.ctex"
-metadata={
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-
-[deps]
-
-source_file="res://instruments/horizon-mask.png"
-dest_files=["res://.godot/imported/horizon-mask.png-03d2bafdd84b9816ae1fe68fc4baf43d.ctex"]
-
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-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=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

project/instruments/horizon-overlay.png.import

@@ -1,34 +0,0 @@
-[remap]
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-importer="texture"
-type="CompressedTexture2D"
-uid="uid://b703lu8yhaoav"
-path="res://.godot/imported/horizon-overlay.png-7e128e1a0dd8183251d6119879899864.ctex"
-metadata={
-"vram_texture": false
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-
-[deps]
-
-source_file="res://instruments/horizon-overlay.png"
-dest_files=["res://.godot/imported/horizon-overlay.png-7e128e1a0dd8183251d6119879899864.ctex"]
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-compress/lossy_quality=0.7
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-process/premult_alpha=false
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-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1

project/instruments/horizon.png.import

@@ -1,34 +0,0 @@
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-uid="uid://bxdfrv8bovdai"
-path="res://.godot/imported/horizon.png-9384af1095d9251c4f8861113a545ccf.ctex"
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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

project/instruments/pfd-background.png.import

@@ -1,34 +0,0 @@
-[remap]
-
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-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1

project/instruments/pfd-ref.png.import

@@ -1,34 +0,0 @@
-[remap]
-
-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

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

project/instruments/pfd.gd.uid

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

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")

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

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

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"]

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

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) {
-      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<float>(MAVLINK_MSG_ID_MANUAL_CONTROL);
+      command.param2 = 0; // Default rate
+      command.param3 = 0; // Not used
+      command.param4 = 0;
+      command.param5 = 0;
+      command.param6 = 0;
+      command.param7 = 1; // Address of requestor
 
-      result = subscribe_message(message.sysid, message.compid,
-                                 MAVLINK_MSG_ID_MANUAL_SETPOINT);
+      mavlink_message_t message_sent;
+      mavlink_msg_command_long_encode_chan(
+          system_id, component_id, MAVLINK_COMM_0, &message_sent, &command);
+      Error result = send_message(message_sent);
       if (result != OK) {
-        print_line("Subscribe setpoint send result ", result);
+        print_line("Subscribe send result ", result);
       }
     }
 
@@ -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;

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;