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73 lines
2.6 KiB
73 lines
2.6 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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*/ |
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#include <iostream> |
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#include <string> |
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#include "SocketExample.cpp" |
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class libAP_JSON { |
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public: |
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bool InitSockets(const char *fdm_address, const uint16_t fdm_port_in); |
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bool ReceiveServoPacket(uint16_t servo_out[]); |
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void SendState(double timestamp, |
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double gyro_x, double gyro_y, double gyro_z, // rad/sec |
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double accel_x, double accel_y, double accel_z, // m/s^2 |
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double pos_x, double pos_y, double pos_z, // m in inertial frame |
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double phi, double theta, double psi, // attitude radians |
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double V_x, double V_y, double V_z); // m/s in inertial frame |
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void setAirspeed(double airspeed_in); // m/s |
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void setWindvane(double direction, // radians clockwise to the front (0 is head to wind) |
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double speed); // m/s |
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void setRangefinder(double *rangefinder_in, uint8_t n); |
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bool ap_online; |
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private: |
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// Socket manager |
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SocketExample sock = SocketExample(true); |
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// The address for the flight dynamics model |
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// const char *libAP_JSON::fdm_address; |
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// The address for the SITL flight controller - auto detected |
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const char *fcu_address; |
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// The port for the flight dynamics model |
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// uint16_t libAP_JSON::fdm_port_in; |
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// The port for the SITL flight controller - auto detected |
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uint16_t fcu_port_out; |
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// Number of consecutive missed ArduPilot controller messages |
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int connectionTimeoutCount; |
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// Max number of consecutive missed ArduPilot controller messages before timeout |
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int connectionTimeoutMaxCount = 10; |
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// Last received frame rate from the ArduPilot controller |
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uint16_t fcu_frame_rate; |
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// Last received frame count from the ArduPilot controller |
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uint32_t fcu_frame_count = -1; |
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// optional JSON data |
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double airspeed; |
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bool set_airspeed_flag = false; |
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double windvane_direction; |
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double windvane_speed; |
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bool set_windvane_flag = false; |
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double rangefinder[6]; |
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uint8_t rangefinder_count = 0; |
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};
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