aerospace-toolbox

aerospace-toolbox Commit Details

Date:2010-05-01 04:07:57 (8 years 4 months ago)
Author:James Goppert
Branch:master
Commit:6cb93fcd62e139414c185f31cbeab43019c1c9fe
Parents: 38404fc73c912741a3f86559d057bd7baccc28b6
Message:Modified packet.

Changes:
Mhelp/en_US/flightGearUpdate.xml (1 diff)
Msci_gateway/cpp/sci_flightGear.cpp (3 diffs)
Mxcos/flightGear.xcos (1 diff)

File differences

help/en_US/flightGearUpdate.xml
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<para>aileron, elevator, and rudder are mapped from -1 to 1 </para>
<para>throttle is mapped from 0 to 1</para>
<para>y = [roll;pitch;yaw;p;q;r;lon;lat;alt;vN;vE;vE;vWindN;vWindE;vWindD;Ax;Ay;Az] </para>
<para>y = [latitude;longitude;altitude;roll;pitch;yaw;p;q;r;vcas;Ax;Ay;Az;alpha;beta] </para>
</refsection>
sci_gateway/cpp/sci_flightGear.cpp
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{
net.version = ntohl(net.version);
htond(net.longitude); // use
htond(net.latitude); // use
htond(net.altitude); // use
htonf(net.agl);
htond(net.latitude);
htond(net.longitude);
htond(net.altitude);
htonf(net.phi);
htonf(net.theta);
htonf(net.psi);
htonf(net.alpha);
htonf(net.beta);
htonf(net.psi);
htonf(net.phidot);
htonf(net.thetadot);
htonf(net.psidot);
htonf(net.phidot); // use
htonf(net.thetadot); // use
htonf(net.psidot); // use
htonf(net.vcas);
htonf(net.climb_rate);
htonf(net.v_north);
htonf(net.v_east);
htonf(net.v_down);
htonf(net.v_wind_body_north);
htonf(net.v_wind_body_east);
htonf(net.v_wind_body_down);
htonf(net.A_X_pilot); // use
htonf(net.A_Y_pilot); // use
htonf(net.A_Z_pilot); // use
htonf(net.stall_warning);
htonf(net.slip_deg);
htonf(net.A_X_pilot);
htonf(net.A_Y_pilot);
htonf(net.A_Z_pilot);
htonf(net.alpha);
htonf(net.beta);
}
void output(FGNetFDM & fdmRecvBuf)
{
printf("%10.6fN (deg) ", fdmRecvBuf.latitude*rad2deg);
printf("%10.6fE (deg) ",fdmRecvBuf.longitude*rad2deg);
printf("AGL (m)=% 7.1f\n", fdmRecvBuf.agl);
printf("vNED (m/s)=% 3.0f %3.0f %3.0f", fdmRecvBuf.v_north*ft2m, fdmRecvBuf.v_east*ft2m, fdmRecvBuf.v_down*ft2m);
printf("ASL (m)=% 7.1f\n", fdmRecvBuf.altitude);
printf("phi(deg)=% 3.0f ", fdmRecvBuf.phi*rad2deg);
printf("theta(deg)=% 3.0f ", fdmRecvBuf.theta*rad2deg);
printf("thetadot(deg/s)=% 3.0f ", fdmRecvBuf.thetadot*rad2deg);
printf("psidot(deg/s)=% 3.0f\n", fdmRecvBuf.psidot*rad2deg);
printf("vcas(m/s)=% 3.0f\n", fdmRecvBuf.vcas);
printf("Abody (m/s^2) = %10.4f %10.4f %10.4f\n",fdmRecvBuf.A_X_pilot*ft2m,fdmRecvBuf.A_Y_pilot*ft2m,fdmRecvBuf.A_Z_pilot*ft2m);
printf("alpha(deg)=% 3.0f ", fdmRecvBuf.alpha*rad2deg);
printf("beta(deg)=% 3.0f ", fdmRecvBuf.beta*rad2deg);
printf("\n");
}
// create output vector
double y[18];
y[0] = fdmRecvBuf.phi;
y[1] = fdmRecvBuf.theta;
y[2] = fdmRecvBuf.psi;
y[3] = fdmRecvBuf.phidot;
y[4] = fdmRecvBuf.thetadot;
y[5] = fdmRecvBuf.psidot;
y[6] = fdmRecvBuf.longitude;
y[7] = fdmRecvBuf.latitude;
y[8] = fdmRecvBuf.altitude;
y[9] = fdmRecvBuf.v_north;
y[10] = fdmRecvBuf.v_east;
y[11] = fdmRecvBuf.v_down;
y[12] = fdmRecvBuf.v_wind_body_north;
y[13] = fdmRecvBuf.v_wind_body_east;
y[14] = fdmRecvBuf.v_wind_body_down;
y[15] = fdmRecvBuf.A_X_pilot;
y[16] = fdmRecvBuf.A_Y_pilot;
y[17] = fdmRecvBuf.A_Z_pilot;
m3 = 18;
y[0] = fdmRecvBuf.latitude;
y[1] = fdmRecvBuf.longitude;
y[2] = fdmRecvBuf.altitude;
y[3] = fdmRecvBuf.phi;
y[4] = fdmRecvBuf.theta;
y[5] = fdmRecvBuf.psi;
y[6] = fdmRecvBuf.phidot;
y[7] = fdmRecvBuf.thetadot;
y[8] = fdmRecvBuf.psidot;
y[9] = fdmRecvBuf.vcas;
y[10] = fdmRecvBuf.A_X_pilot;
y[11] = fdmRecvBuf.A_Y_pilot;
y[12] = fdmRecvBuf.A_Z_pilot;
y[13] = fdmRecvBuf.alpha;
y[14] = fdmRecvBuf.beta;
m3 = 15;
n3 = 1;
CreateVar(Rhs+1,MATRIX_OF_DOUBLE_DATATYPE,&m3,&n3,&l3);
for (int i=0;i<m3;i++) *stk(l3+i) = y[i];
xcos/flightGear.xcos
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1
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