we still have problem on numerb of simulated acceloerometer out of ra…

…nge..

DataRefManager.cpp

@@ -14,6 +14,7 @@ std::vector<DataRefItem> DataRefManager::dataRefs = {
 	{"Position", "Longitude", "sim/flightmodel/position/longitude", "deg", 1, DRT_FLOAT, std::function<float(const char*)>(getFloat)},
 	{"Position", "Longitude", "sim/flightmodel/position/longitude", "deg", 1, DRT_FLOAT, std::function<float(const char*)>(getFloat)},
 	{"Position", "Altitude", "sim/flightmodel/position/elevation", "m", 1, DRT_FLOAT, std::function<float(const char*)>(getFloat)},
+	{"Position", "Course (Track)", "sim/cockpit2/gauges/indicators/ground_track_mag_copilot", "deg", 1, DRT_FLOAT, std::function<float(const char*)>(getFloat)},
 
 	// Attitude Information
 	{"Attitude", "Pitch", "sim/flightmodel/position/theta", "deg", 1, DRT_FLOAT, std::function<float(const char*)>(getFloat)},

MAVLinkManager.cpp

@@ -1,32 +1,88 @@
 #include "MAVLinkManager.h"
-#include "mavlink/c_library_v2/all/mavlink.h"
+#include "mavlink/c_library_v2/common/mavlink.h"
 #include "ConnectionManager.h"
+#include "DataRefManager.h"
 
 void MAVLinkManager::sendHILSensor() {
     if (!ConnectionManager::isConnected()) return;
 
     mavlink_message_t msg;
     mavlink_hil_sensor_t hil_sensor;
 
-    // Fill in the hil_sensor data with dummy values
-    hil_sensor.time_usec = 0;
-    hil_sensor.xacc = 1.0f;
-    hil_sensor.yacc = 1.0f;
-    hil_sensor.zacc = 1.0f;
-    hil_sensor.xgyro = 1.0f;
-    hil_sensor.ygyro = 1.0f;
-    hil_sensor.zgyro = 1.0f;
-    hil_sensor.xmag = 1.0f;
-    hil_sensor.ymag = 1.0f;
-    hil_sensor.zmag = 1.0f;
-    hil_sensor.abs_pressure = 1.0f;
-    hil_sensor.diff_pressure = 1.0f;
-    hil_sensor.pressure_alt = 1.0f;
-    hil_sensor.temperature = 20.0f;
-    hil_sensor.fields_updated = 0;
+    hil_sensor.time_usec = static_cast<uint64_t>(DataRefManager::getFloat("sim/time/total_flight_time_sec") * 1e6);
+
+    hil_sensor.xacc = DataRefManager::getFloat("sim/flightmodel/forces/g_axil") * DataRefManager::g_earth;
+    hil_sensor.yacc = DataRefManager::getFloat("sim/flightmodel/forces/g_side") * DataRefManager::g_earth;
+    hil_sensor.zacc = DataRefManager::getFloat("sim/flightmodel/forces/g_nrml") * DataRefManager::g_earth;
+
+    hil_sensor.xgyro = DataRefManager::getFloat("sim/flightmodel/position/Prad");
+    hil_sensor.ygyro = DataRefManager::getFloat("sim/flightmodel/position/Qrad");
+    hil_sensor.zgyro = DataRefManager::getFloat("sim/flightmodel/position/Rrad");
+
+    hil_sensor.abs_pressure = DataRefManager::getFloat("sim/weather/barometer_current_inhg") * 33.8639;
+    hil_sensor.pressure_alt = DataRefManager::getDouble("sim/flightmodel2/position/pressure_altitude") * 0.3048;
+    // Find suitable datarefs or provide default values
+    hil_sensor.diff_pressure = 0;
+    hil_sensor.xmag = 0;
+    hil_sensor.ymag = 0;
+    hil_sensor.zmag = 0;
+
+    hil_sensor.temperature = DataRefManager::getFloat("sim/cockpit2/temperature/outside_air_temp_degc");
+
+    // Now set the bits for the fields you are updating.
+    // Refer to the provided enum values for the fields_updated flags.
+    //https://mavlink.io/en/messages/common.html#HIL_SENSOR_UPDATED_FLAGS
+    uint32_t fields_updated = 0; // Start with a bitmask of all zeros
+    fields_updated |= (1 << 0); // HIL_SENSOR_UPDATED_XACC, the bit shift corresponds to setting the 0th bit to 1
+    fields_updated |= (1 << 1); // HIL_SENSOR_UPDATED_YACC, the bit shift corresponds to setting the 1st bit to 1
+    fields_updated |= (1 << 2); // HIL_SENSOR_UPDATED_ZACC, the bit shift corresponds to setting the 2nd bit to 1
+    fields_updated |= (1 << 3); // HIL_SENSOR_UPDATED_XGYRO, the bit shift corresponds to setting the 3rd bit to 1
+    fields_updated |= (1 << 4); // HIL_SENSOR_UPDATED_YGYRO, the bit shift corresponds to setting the 4th bit to 1
+    fields_updated |= (1 << 5); // HIL_SENSOR_UPDATED_ZGYRO, the bit shift corresponds to setting the 5th bit to 1
+    fields_updated |= (1 << 9); // HIL_SENSOR_UPDATED_ABS_PRESSURE, the bit shift corresponds to setting the 9th bit to 1
+    fields_updated |= (1 << 11); // HIL_SENSOR_UPDATED_PRESSURE_ALT, the bit shift corresponds to setting the 11th bit to 1
+    fields_updated |= (1 << 12); // HIL_SENSOR_UPDATED_TEMPERATURE, the bit shift corresponds to setting the 12th bit to 1
+
+    hil_sensor.fields_updated = fields_updated;
+
+    // Finally, assign the bitmask to the hil_sensor message object
+    hil_sensor.fields_updated = fields_updated;
 
     mavlink_msg_hil_sensor_encode(1, 1, &msg, &hil_sensor);
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     int len = mavlink_msg_to_send_buffer(buffer, &msg);
     ConnectionManager::sendData(buffer, len);
-}
+}
+void MAVLinkManager::sendHILGPS() {
+    if (!ConnectionManager::isConnected()) return;
+
+    mavlink_message_t msg;
+    mavlink_hil_gps_t hil_gps;
+
+    hil_gps.time_usec = static_cast<uint64_t>(DataRefManager::getFloat("sim/time/total_flight_time_sec") * 1e6); // converted to us
+    hil_gps.fix_type = 3; // 3: 3D fix, since we are in a simulation environment, we can assume we always have a 3D fix
+
+    hil_gps.lat = static_cast<int32_t>(DataRefManager::getFloat("sim/flightmodel/position/latitude") * 1e7); // converted to degE7
+    hil_gps.lon = static_cast<int32_t>(DataRefManager::getFloat("sim/flightmodel/position/longitude") * 1e7); // converted to degE7
+
+    hil_gps.alt = static_cast<int32_t>(DataRefManager::getFloat("sim/flightmodel/position/elevation") * 1e3); // converted to mm
+
+    hil_gps.eph = 20; // Example, 20: equivalent to 0.2 in HDOP, assuming very high accuracy due to simulation environment
+    hil_gps.epv = 20; // Example, 20: equivalent to 0.2 in VDOP, assuming very high accuracy due to simulation environment
+    hil_gps.satellites_visible = 12; // Example, assuming we have 12 satellites visible as it’s common in good conditions.
+
+    hil_gps.vn = static_cast<int16_t>(DataRefManager::getFloat("sim/flightmodel/position/local_vx") * 100); // converted to cm/s
+    hil_gps.ve = static_cast<int16_t>(DataRefManager::getFloat("sim/flightmodel/position/local_vy") * 100); // converted to cm/s
+    hil_gps.vd = static_cast<int16_t>(DataRefManager::getFloat("sim/flightmodel/position/local_vz") * 100); // converted to cm/s
+
+    hil_gps.cog = static_cast<uint16_t>(DataRefManager::getFloat("sim/cockpit2/gauges/indicators/ground_track_mag_copilot") * 100); // converted to cdeg
+
+    hil_gps.vel = UINT16_MAX; // Assuming velocity is unknown as per MAVLink definition
+    hil_gps.id = 0; // 0 indexed GPS ID for single GPS
+    hil_gps.yaw = UINT16_MAX; // Yaw not available
+
+    mavlink_msg_hil_gps_encode(1, 1, &msg, &hil_gps);
+    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+    int len = mavlink_msg_to_send_buffer(buffer, &msg);
+    ConnectionManager::sendData(buffer, len);
+}

MAVLinkManager.h

@@ -4,4 +4,6 @@
 class MAVLinkManager {
     public:
     static void sendHILSensor();
+    static void sendHILGPS();
+
 };

px4xplane.cpp

@@ -244,6 +244,7 @@ float MyFlightLoopCallback(float inElapsedSinceLastCall, float inElapsedTimeSinc
 
 	// Call MAVLinkManager::sendHILSensor() to send HIL_SENSOR data
 	MAVLinkManager::sendHILSensor();
+	//MAVLinkManager::sendHILGPS();
 
 
 	//ConnectionManager::receiveData();
@@ -252,6 +253,9 @@ float MyFlightLoopCallback(float inElapsedSinceLastCall, float inElapsedTimeSinc
 
 PLUGIN_API void XPluginStop(void) {
 	// Unregister the flight loop callback
+	if (ConnectionManager::isConnected) {
+		toggleEnable();
+	}
 	XPLMUnregisterFlightLoopCallback(MyFlightLoopCallback, NULL);
 #if IBM
 	ConnectionManager::cleanupWinSock();