*** empty log message ***

sw/simulator/fg.c

@@ -16,7 +16,7 @@ value fg_msg(value x, value y, value z, value phi) {
   double lon = -2.135537 + asin(Double_val(y)/earth_radius);
   
   struct FGNetGUI msg;
-  msg.version = 7;
+  msg.version = FG_NET_GUI_VERSION;
 
   msg.longitude = lon;
   msg.latitude = lat;

sw/simulator/flight_gear.h

@@ -0,0 +1,256 @@
+#ifndef FLIGHT_GEAR_H
+#define FLIGHT_GEAR_H
+
+#include <stdint.h>
+   
+#define FG_NET_CTRLS_VERSION 26
+#define FG_NET_CTRLS_MAX_ENGINES 4 
+#define FG_NET_CTRLS_MAX_WHEELS  16 
+#define FG_NET_CTRLS_MAX_TANKS   6 
+
+struct FGNetCtrls {
+  uint32_t version;                    // increment when data values change
+
+  // Aero controls
+  double aileron;                      // -1 ... 1
+  double elevator;                     // -1 ... 1
+  double rudder;                       // -1 ... 1
+  double aileron_trim;                 // -1 ... 1
+  double elevator_trim;                // -1 ... 1
+  double rudder_trim;                  // -1 ... 1
+  double flaps;                        //  0 ... 1
+
+  // Aero control faults
+  uint32_t flaps_power;                 // true = power available
+  uint32_t flap_motor_ok;
+
+  // Engine controls
+  uint32_t num_engines;                // number of valid engines
+  uint32_t master_bat[FG_NET_CTRLS_MAX_ENGINES];
+  uint32_t master_alt[FG_NET_CTRLS_MAX_ENGINES];
+  uint32_t magnetos[FG_NET_CTRLS_MAX_ENGINES];
+  uint32_t starter_power[FG_NET_CTRLS_MAX_ENGINES];// true = starter power
+  double throttle[FG_NET_CTRLS_MAX_ENGINES];     //  0 ... 1
+  double mixture[FG_NET_CTRLS_MAX_ENGINES];      //  0 ... 1
+  double condition[FG_NET_CTRLS_MAX_ENGINES];    //  0 ... 1
+  uint32_t fuel_pump_power[FG_NET_CTRLS_MAX_ENGINES];// true = on
+  double prop_advance[FG_NET_CTRLS_MAX_ENGINES]; //  0 ... 1
+
+  // Engine faults
+  uint32_t engine_ok[FG_NET_CTRLS_MAX_ENGINES];
+  uint32_t mag_left_ok[FG_NET_CTRLS_MAX_ENGINES];
+  uint32_t mag_right_ok[FG_NET_CTRLS_MAX_ENGINES];
+  uint32_t spark_plugs_ok[FG_NET_CTRLS_MAX_ENGINES];  // false = fouled plugs
+  uint32_t oil_press_status[FG_NET_CTRLS_MAX_ENGINES];// 0 = normal, 1 = low, 2 = full fail
+  uint32_t fuel_pump_ok[FG_NET_CTRLS_MAX_ENGINES];
+
+  // Fuel management
+  uint32_t num_tanks;                      // number of valid tanks
+  uint32_t fuel_selector[FG_NET_CTRLS_MAX_TANKS];    // false = off, true = on
+  uint32_t cross_feed;                     // false = off, true = on
+
+  // Brake controls
+  double brake_left;
+  double brake_right;
+  double copilot_brake_left;
+  double copilot_brake_right;
+  double brake_parking;
+
+  // Landing Gear
+  uint32_t gear_handle; // true=gear handle down; false= gear handle up
+
+  // Switches
+  uint32_t master_avionics;
+
+  // wind and turbulance
+  double wind_speed_kt;
+  double wind_dir_deg;
+  double turbulence_norm;
+
+  // temp and pressure
+  double temp_c;
+  double press_inhg;
+
+  // other information about environment
+  double hground;                      // ground elevation (meters)
+  double magvar;                       // local magnetic variation in degs.
+
+  // hazards
+  uint32_t icing;                      // icing status could me much
+  // more complex but I'm
+  // starting simple here.
+
+  // simulation control
+  uint32_t speedup;                    // integer speedup multiplier
+  uint32_t freeze;                     // 0=normal
+                                       // 0x01=master
+                                       // 0x02=position
+                                       // 0x04=fuel
+
+};
+
+
+#define FG_NET_FDM_VERSION 23
+#define FG_NET_FDM_MAX_ENGINES 4 
+#define FG_NET_FDM_MAX_WHEELS  3 
+#define FG_NET_FDM_MAX_TANKS   4 
+
+
+struct FGNetFDM {
+
+  uint32_t version;           // increment when data values change
+  uint32_t padding;           // padding
+
+  // Positions
+  double longitude;           // geodetic (radians)
+  double latitude;            // geodetic (radians)
+  double altitude;            // above sea level (meters)
+  float agl;                  // above ground level (meters)
+  float phi;                  // roll (radians)
+  float theta;                // pitch (radians)
+  float psi;                  // yaw or true heading (radians)
+  float alpha;                // angle of attack (radians)
+  float beta;                 // side slip angle (radians)
+
+  // Velocities
+  float phidot;               // roll rate (radians/sec)
+  float thetadot;             // pitch rate (radians/sec)
+  float psidot;               // yaw rate (radians/sec)
+  float vcas;                 // calibrated airspeed
+  float climb_rate;           // feet per second
+  float v_north;              // north velocity in local/body frame, fps
+  float v_east;               // east velocity in local/body frame, fps
+  float v_down;               // down/vertical velocity in local/body frame, fps
+  float v_wind_body_north;    // north velocity in local/body frame
+                              // relative to local airmass, fps
+  float v_wind_body_east;     // east velocity in local/body frame
+                              // relative to local airmass, fps
+  float v_wind_body_down;     // down/vertical velocity in local/body
+                              // frame relative to local airmass, fps
+  
+  // Accelerations
+  float A_X_pilot;            // X accel in body frame ft/sec^2
+  float A_Y_pilot;            // Y accel in body frame ft/sec^2
+  float A_Z_pilot;            // Z accel in body frame ft/sec^2
+  // Stall
+  float stall_warning;        // 0.0 - 1.0 indicating the amount of stall
+  float slip_deg;             // slip ball deflection
+  
+  // Pressure
+  
+  // Engine status
+  uint32_t num_engines;            // Number of valid engines
+  uint32_t eng_state[FG_NET_FDM_MAX_ENGINES];// Engine state (off, cranking, running)
+  float rpm[FG_NET_FDM_MAX_ENGINES];       // Engine RPM rev/min
+  float fuel_flow[FG_NET_FDM_MAX_ENGINES]; // Fuel flow gallons/hr
+  float egt[FG_NET_FDM_MAX_ENGINES];       // Exhuast gas temp deg F
+  float cht[FG_NET_FDM_MAX_ENGINES];       // Cylinder head temp deg F
+  float mp_osi[FG_NET_FDM_MAX_ENGINES];    // Manifold pressure
+  float tit[FG_NET_FDM_MAX_ENGINES];       // Turbine Inlet Temperature
+  float oil_temp[FG_NET_FDM_MAX_ENGINES];  // Oil temp deg F
+  float oil_px[FG_NET_FDM_MAX_ENGINES];    // Oil pressure psi
+  
+  // Consumables
+  uint32_t num_tanks;         // Max number of fuel tanks
+  float fuel_quantity[FG_NET_FDM_MAX_TANKS];
+  
+  // Gear status
+  uint32_t num_wheels;
+  uint32_t wow[FG_NET_FDM_MAX_WHEELS];
+  float gear_pos[FG_NET_FDM_MAX_WHEELS];
+  float gear_steer[FG_NET_FDM_MAX_WHEELS];
+  float gear_compression[FG_NET_FDM_MAX_WHEELS];
+  
+  // Environment
+  uint32_t cur_time;           // current unix time
+  // FIXME: make this uint64_t before 2038
+  int32_t warp;                // offset in seconds to unix time
+  float visibility;            // visibility in meters (for env. effects)
+  
+  // Control surface positions (normalized values)
+  float elevator;
+  float elevator_trim_tab;
+  float left_flap;
+  float right_flap;
+  float left_aileron;
+  float right_aileron;
+  float rudder;
+  float nose_wheel;
+  float speedbrake;
+  float spoilers;
+};
+
+struct FGNetMiniFDM {
+   uint32_t version;           // increment when data values change
+
+    // Positions
+    double longitude;           // geodetic (radians)
+    double latitude;            // geodetic (radians)
+    double altitude;            // above sea level (meters)
+    double agl;                 // above ground level (meters)
+    double phi;                 // roll (radians)
+    double theta;               // pitch (radians)
+    double psi;                 // yaw or true heading (radians)
+
+    // Velocities
+    double vcas;
+    double climb_rate;          // feet per second
+
+    // Consumables
+    uint32_t num_tanks;         // Max number of fuel tanks
+    double fuel_quantity[FG_NET_FDM_MAX_TANKS];
+
+    // Environment
+    uint32_t cur_time;            // current unix time
+    int32_t warp;                 // offset in seconds to unix time
+};
+
+#define FG_NET_GUI_VERSION 7
+#define FG_NET_GUI_MAX_TANKS 4
+struct FGNetGUI {
+  uint32_t version;           // increment when data values change
+
+  // Positions
+  double longitude;           // geodetic (radians)
+  double latitude;            // geodetic (radians)
+  float altitude;             // above sea level (meters)
+  float agl;                  // above ground level (meters)
+  float phi;                  // roll (radians)
+  float theta;                // pitch (radians)
+  float psi;                  // yaw or true heading (radians)
+  
+  // Velocities
+  float vcas;
+  float climb_rate;           // feet per second
+
+  // Consumables
+  uint32_t num_tanks;         // Max number of fuel tanks
+  float fuel_quantity[FG_NET_GUI_MAX_TANKS];
+
+  // Environment
+  uint32_t cur_time;          // current unix time
+                                // FIXME: make this uint64_t before 2038
+  uint32_t warp;              // offset in seconds to unix time
+  float ground_elev;          // ground elev (meters)
+
+  // Approach
+  float tuned_freq;           // currently tuned frequency
+  float nav_radial;           // target nav radial
+  uint32_t in_range;           // tuned navaid is in range?
+  float dist_nm;              // distance to tuned navaid in nautical miles
+  float course_deviation_deg; // degrees off target course
+  float gs_deviation_deg;     // degrees off target glide slope
+};
+
+extern void net_fdm_dump (struct FGNetFDM* fdm);
+extern void net_fdm_ntoh (struct FGNetFDM* fdm);
+extern void net_fdm_init (struct FGNetFDM* fdm);
+
+extern void net_gui_init (struct FGNetGUI* gui);
+extern void net_gui_hton (struct FGNetGUI* gui);
+extern void net_gui_dump (struct FGNetGUI* gui);
+
+extern void net_ctrls_dump(struct FGNetCtrls* ctrls);
+extern void net_ctrls_ntoh(struct FGNetCtrls* ctrls);
+
+#endif /* FLIGHT_GEAR_H */

sw/simulator/sim.ml

@@ -180,7 +180,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
       let (x,y,z) = FlightModel.get_xyz !state
       and phi = FlightModel.get_phi !state in
       let m = fg_msg x y z phi in
-      (*** for i = 0 to String.length m - 1 do fprintf stderr "%x " (Char.code m.[i]) done; fprintf stderr "\n"; ***)
+(**       for i = 0 to String.length m - 1 do fprintf stderr "%x " (Char.code m.[i]) done; fprintf stderr "\n"; **)
       try
 	ignore (Unix.send socket m 0 (String.length m) [])
       with
@@ -198,7 +198,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
 	try
 	  let inet_addr = Unix.inet_addr_of_string !fg_client in
 	  let socket = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0 in
-	  Unix.connect socket (Unix.ADDR_INET (inet_addr, 1234));
+	  Unix.connect socket (Unix.ADDR_INET (inet_addr, 5500));
 	  Stdlib.timer ~scale:time_scale fg_period (fg_task socket)
 	with
 	  e -> fprintf stderr "Error while connecting to fg: %s" (Printexc.to_string e)