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MP_fdm_sim.py
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194 lines (151 loc) · 8.81 KB
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#!/usr/bin/python
# -*- coding: UTF-8 -*-
import socket
from struct import *
from collections import namedtuple
import numpy as np
from MP_handler import MP_handler
import Queue
import time
from MP_frames import *
import threading
UDP_IP = "127.0.0.1"
UDP_TX_PORT = 5500
UDP_RX_PORT = 5501
FLIGHTGEAR_RX_DEFINE = np.array(
[
['d', 'roll_angle'], # double
['d', 'pitch_angle'], # double
['d', 'yaw_angle'], # double
['d', 'latitude'], # double
['d', 'longitude'], # double
['d', 'altitude'], # double
['d', 'heading'], # double
['d', 'speed_north'], # double
['d', 'speed_east'], # double
['d', 'x_accel'], # double
['d', 'y_accel'], # double
['d', 'z_accel'], # double
['d', 'roll_rate'], # double
['d', 'pitch_rate'], # double
['d', 'yaw_rate'], # double
['I', 'magic'], # unsigned int
])
FLIGHTGEAR_RX_STRUCT = np.array(
[
'MP_HDR', # Name
calcsize('!' + ''.join(FLIGHTGEAR_RX_DEFINE[:, 0])), # Size
''.join(FLIGHTGEAR_RX_DEFINE[:, 0]), # Field data type
', '.join(FLIGHTGEAR_RX_DEFINE[:, 1]), # Field name
])
FLIGHTGEAR_TX_DEFINE = np.array(
[
['d', 'throttle', 0], # double
['d', 'aileron', 0], # double
['d', 'elevator', 0], # double
['d', 'rudder', 0], # double
])
FLIGHTGEAR_TX_STRUCT = np.array(
[
'MP_HDR', # Name
calcsize('!' + ''.join(FLIGHTGEAR_TX_DEFINE[:, 0])), # Size
''.join(FLIGHTGEAR_TX_DEFINE[:, 0]), # Field data type
', '.join(FLIGHTGEAR_TX_DEFINE[:, 1]), # Field name
', '.join(FLIGHTGEAR_TX_DEFINE[:, 2]), # Initial value
])
tx_frame_format = '!' + FLIGHTGEAR_TX_STRUCT[2]
tx_frame_fields = FLIGHTGEAR_TX_STRUCT[3]
tx_frame_struct = namedtuple('FLIGHTGEAR_TX', FLIGHTGEAR_TX_STRUCT[3])
tx_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
rx_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
rx_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
rx_sock.bind((UDP_IP, UDP_RX_PORT))
__mp_rx_frame_queue = Queue.Queue(0)
__mp_handler = MP_handler()
__mp_handler.set_rx_frame_queue(__mp_rx_frame_queue)
__mp_handler.open_serial('COM3', int(57600))
__mp_handler.thread_start()
def restrict (val, minval, maxval):
if val < minval: return minval
if val > maxval: return maxval
return val
def UDP_RX_Thread():
while(True):
data = rx_sock.recv(1024)
mp_frame_format = '!' + FLIGHTGEAR_RX_STRUCT[2]
mp_frame_fields = FLIGHTGEAR_RX_STRUCT[3]
mp_frame_struct = namedtuple('FLIGHTGEAR_RX', mp_frame_fields)
flightgear_info = mp_frame_struct._make(unpack(mp_frame_format, data))
mp_x_accel16 = int(flightgear_info.x_accel / 32.2 * 4096.0) #- == pitch down
mp_y_accel16 = int(flightgear_info.y_accel / 32.2 * -4096.0) #- right down
mp_z_accel16 = int(flightgear_info.z_accel / 32.2 * -4096.0) #- in FG
mp_x_gyro16 = int(flightgear_info.roll_rate * 16.4) #+ right
mp_y_gyro16 = int(flightgear_info.pitch_rate * -16.4) #+ up
mp_z_gyro16 = int(flightgear_info.yaw_rate * -16.4) #+ right
mp_x_accel16 = restrict(mp_x_accel16, -32768, 32767)
mp_y_accel16 = restrict(mp_y_accel16, -32768, 32767)
mp_z_accel16 = restrict(mp_z_accel16, -32768, 32767)
mp_x_gyro16 = restrict(mp_x_gyro16, -32768, 32767)
mp_y_gyro16 = restrict(mp_y_gyro16, -32768, 32767)
mp_z_gyro16 = restrict(mp_z_gyro16, -32768, 32767)
"""
tx_mpu_payload = pack("<" + MP_IMU_SENSOR_STRUCT[2],
0,
mp_x_accel16, mp_y_accel16, mp_z_accel16,
mp_x_gyro16, mp_y_gyro16, mp_z_gyro16,
0)
__mp_handler.transmit_frame(MP_TX_IMU_SENSOR_DATA_ID, tx_mpu_payload)
"""
tx_mpu_payload = pack("<fff",
flightgear_info.roll_angle,
flightgear_info.pitch_angle,
flightgear_info.yaw_angle)
__mp_handler.transmit_frame(MP_TX_IMU_SENSOR_DATA_ID + 1, tx_mpu_payload)
#print mp_x_accel16, mp_y_accel16, mp_z_accel16, mp_x_gyro16, mp_y_gyro16, mp_z_gyro16
#print flightgear_info.roll_angle, flightgear_info.pitch_angle, flightgear_info.yaw_angle
pass
udp_rx_thread = threading.Thread(target = UDP_RX_Thread)
udp_rx_thread.start()
while(True):
while(1):
rx_frame = __mp_rx_frame_queue.get(True, None)
if(rx_frame["data"].cmd == MP_RC_OUT_ID):
tx_frame = pack(tx_frame_format,
((rx_frame["data"].RCOUT_0 - 2000.0) / 2000.0),
((rx_frame["data"].RCOUT_1 - 3000.0) / -1000.0), # Roll
((rx_frame["data"].RCOUT_2 - 3000.0) / 1000.0), # Pitch,
((rx_frame["data"].RCOUT_3 - 3000.0) / -1000.0)) # YAW
tx_sock.sendto(tx_frame, (UDP_IP, UDP_TX_PORT))
"""
if(rx_frame["data"].cmd == MP_AHRS_FULL_ID):
print rx_frame["data"].accel_exceed_cnt
print "[", rx_frame["data"].pitch, rx_frame["data"].roll, rx_frame["data"].level_vctr_x, rx_frame["data"].level_vctr_y, rx_frame["data"].level_vctr_z,"]"
"""
"""
if(rx_frame["data"].cmd == MP_AHRS_FULL_ID):
print "AHRS: roll ", rx_frame["data"].ned_roll, "pitch ", rx_frame["data"].ned_pitch, "yaw ", rx_frame["data"].ned_head
if(rx_frame["data"].cmd == MP_GPS_GENERAL_ID):
print rx_frame["data"]
if(rx_frame["data"].cmd == MP_GPS_NMEA_GGA_ID):
print rx_frame["data"]
if(rx_frame["data"].cmd == MP_GPS_NMEA_RMC_ID):
print rx_frame["data"]
if(rx_frame["data"].cmd == MP_GPS_WAYPOINT_ID):
print rx_frame["data"]
if(rx_frame["data"].cmd == MP_GPS_NAVIGATION_ID):
print rx_frame["data"]
"""
"""
if(rx_frame["data"].cmd == MP_PID_CFG_YAW_ID):
print "KP = ", rx_frame["data"].KP, "KI = ",rx_frame["data"].KI, "KD = ",rx_frame["data"].KD
"""
if(rx_frame["data"].cmd == MP_PID_CFG_PITCH_ID):
print "Scale = ", rx_frame["data"].scale
if(rx_frame["data"].cmd == MP_PID_VAL_PITCH_ID):
print "Prev_error = ", rx_frame["data"].prev_error
if(rx_frame["data"].cmd == MP_RC_OUT_ID):
print "RCOUT_2 = ", rx_frame["data"].RCOUT_2
if(rx_frame["data"].cmd == MP_SETPOINT_ID):
print "setpoint = ", rx_frame["data"].pitch
#time.sleep(10.0 / 1000.0)
__mp_handler.thread_stop()