working fixedWing

config/config.ini

@@ -46,17 +46,19 @@ motor4 = 4  ; PX4 Motor 4 mapped to X-Plane Motor 4
 # - Array Indices: The indices for array data types (use 0 for non-array types).
 # - Range: The range of values, specified as [min max] without a comma.
 
-# Aileron Left (Servo 1)
-# Dataref: sim/flightmodel/controls/wing1l_ail1def
+# Aileron Left (Servo 1) (Usually seen from front of plane in X-Plane)
+# Dataref: sim/flightmodel/controls/wing1l_ail1def is for visual only
+# Dataref: sim/flightmodel/controls/lail1def
 # Type: float
 # Range: [-20 15] (degrees of deflection)
-channel0 = sim/flightmodel/controls/wing1l_ail1def, float, 0, [-20 15]
+channel0 = sim/flightmodel/controls/wing2l_ail1def , float, 0, [-20 15]
 
-# Aileron Right (Servo 2)
-# Dataref: sim/flightmodel/controls/wing1r_ail1def
+# Aileron Right (Servo 2) (Usually seen from front of plane in X-Plane)
+# Dataref: sim/flightmodel/controls/wing1r_ail1def is for visual only
+# Dataref: sim/flightmodel/controls/rail1def
 # Type: float
 # Range: [-20 15] (degrees of deflection)
-channel1 = sim/flightmodel/controls/wing1r_ail1def, float, 0, [-20 15]
+channel1 = sim/flightmodel/controls/wing2r_ail1def , float, 0, [-20 15]
 
 # Elevator (Servo 3)
 # Dataref: sim/flightmodel/controls/hstab1_elv1def
@@ -65,7 +67,7 @@ channel1 = sim/flightmodel/controls/wing1r_ail1def, float, 0, [-20 15]
 channel2 = sim/flightmodel/controls/hstab1_elv1def, float, 0, [-20 15]
 
 # Throttle (Motor 1)
-# Dataref: sim/flightmodel/engine/ENGN_thro_use (array indices (+1) is the engine number)
+# Dataref: sim/flightmodel/engine/ENGN_thro_use ([array indices + 1] is the engine number)
 # Type: floatArray
 # Range: [-1 1] (idle (0) to full throttle Foreward (+1) )
 channel3 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [0], [-1 1]

src/ConfigManager.cpp

@@ -185,7 +185,7 @@ void ConfigManager::parseMultirotorConfig(CSimpleIniA& ini) {
 void ConfigManager::parseFixedWingConfig(CSimpleIniA& ini) {
     XPLMDebugString("px4xplane: Starting to parse FixedWing configuration.\n");
 
-    for (int channel = 0; channel < 16; ++channel) {
+    for (int channel = 0; channel < 16; channel++) {
         std::string key = "channel" + std::to_string(channel);
         std::string value = ini.GetValue("FixedWing", key.c_str(), "");
 

src/DataRefManager.cpp

@@ -134,9 +134,9 @@ Eigen::Vector3f DataRefManager::updateEarthMagneticFieldNED(float lat, float lon
 	float lonRad = lon * M_PI / 180.0;
 
 	// Log the input values
-	char log[256];
+	/*char log[256];
 	sprintf(log, "updateEarthMagneticFieldNED called with lat: %f, lon: %f, alt: %f\n", lat, lon, alt);
-	XPLMDebugString(log);
+	XPLMDebugString(log);*/
 
 	geomag::Vector position = geomag::geodetic2ecef(lat, lon, alt);
 	geomag::Vector mag_field = geomag::GeoMag(2022.5, position, geomag::WMM2020);
@@ -145,8 +145,8 @@ Eigen::Vector3f DataRefManager::updateEarthMagneticFieldNED(float lat, float lon
 	earthMagneticFieldNED = Eigen::Vector3f(nedElements.north, nedElements.east, nedElements.down);
 
 	// Log the calculated magnetic field
-	sprintf(log, "Calculated magnetic field NED: north: %f, east: %f, down: %f\n", nedElements.north, nedElements.east, nedElements.down);
-	XPLMDebugString(log);
+	/*sprintf(log, "Calculated magnetic field NED: north: %f, east: %f, down: %f\n", nedElements.north, nedElements.east, nedElements.down);
+	XPLMDebugString(log)*/;
 
 	earthMagneticFieldNED *= 0.00001;  // Convert from nT to Gauss
 
@@ -390,10 +390,7 @@ void DataRefManager::overrideActuators_multirotor() {
 		if (xplaneMotor != -1) { // Check if mapping exists
 			correctedControls.controls[xplaneMotor - 1] = hilControls.controls[i];
 
-			// Debug print
-			char debugMsg[100];
-			snprintf(debugMsg, sizeof(debugMsg), "PX4 Motor %d -> X-Plane Motor %d\n", i + 1, xplaneMotor);
-			XPLMDebugString(debugMsg);
+
 		}
 	}
 

src/MAVLinkManager.cpp

@@ -478,7 +478,7 @@ void MAVLinkManager::setMagneticFieldData(mavlink_hil_sensor_t& hil_sensor) {
  */
 void MAVLinkManager::setGPSTimeAndFix(mavlink_hil_gps_t& hil_gps) {
     hil_gps.time_usec = static_cast<uint64_t>(DataRefManager::getFloat("sim/time/total_flight_time_sec") * 1e6);
-    hil_gps.fix_type = 3; // Assuming always a 3D fix in the simulation environment
+    hil_gps.fix_type = static_cast<uint8_t>(3); // Assuming always a 3D fix in the simulation environment
 }
 
 /**
@@ -498,9 +498,9 @@ void MAVLinkManager::setGPSPositionData(mavlink_hil_gps_t& hil_gps) {
  * @param hil_gps Reference to the mavlink_hil_gps_t structure to populate.
  */
 void MAVLinkManager::setGPSAccuracyData(mavlink_hil_gps_t& hil_gps) {
-    hil_gps.eph = 20; // Assuming high accuracy due to simulation environment
-    hil_gps.epv = 20;
-    hil_gps.satellites_visible = 12; // Assuming 12 satellites visible in good conditions
+    hil_gps.eph = static_cast<uint16_t>(20); // Assuming high accuracy due to simulation environment
+    hil_gps.epv = static_cast<uint16_t>(20);
+    hil_gps.satellites_visible = static_cast<uint16_t>(14);; // Assuming 12 satellites visible in good conditions
 }
 
 /**
@@ -512,9 +512,9 @@ void MAVLinkManager::setGPSAccuracyData(mavlink_hil_gps_t& hil_gps) {
  * @param hil_gps Reference to the mavlink_hil_gps_t structure to populate.
  */
 void MAVLinkManager::setGPSVelocityData(mavlink_hil_gps_t& hil_gps) {
-    float ogl_vx = DataRefManager::getFloat("sim/flightmodel/position/local_vx") * 100;
-    float ogl_vy = DataRefManager::getFloat("sim/flightmodel/position/local_vy") * 100;
-    float ogl_vz = DataRefManager::getFloat("sim/flightmodel/position/local_vz") * 100;
+    int16_t ogl_vx = DataRefManager::getFloat("sim/flightmodel/position/local_vx") * 100;
+    int16_t ogl_vy = DataRefManager::getFloat("sim/flightmodel/position/local_vy") * 100;
+    int16_t ogl_vz = DataRefManager::getFloat("sim/flightmodel/position/local_vz") * 100;
 
     // Coordinate Transformation:
     // The local OGL (OpenGL) coordinate system in the simulation environment is defined as:
@@ -532,10 +532,10 @@ void MAVLinkManager::setGPSVelocityData(mavlink_hil_gps_t& hil_gps) {
     // NED East  (Y) =  OGL East  (X)
     // NED Down  (Z) = -OGL Up    (Y)
 
-    hil_gps.vn = -1 * ogl_vz;
-    hil_gps.ve = ogl_vx;
-    hil_gps.vd = -1 * ogl_vy;
-    hil_gps.vel = DataRefManager::getFloat("sim/flightmodel/position/groundspeed") * 100;
+    hil_gps.vn = static_cast<int16_t> ( - 1 * ogl_vz);
+    hil_gps.ve = static_cast<int16_t>(ogl_vx);
+    hil_gps.vd = static_cast<int16_t>(-1 * ogl_vy);
+    hil_gps.vel = static_cast<uint16_t>(DataRefManager::getFloat("sim/flightmodel/position/groundspeed") * 100);
 }
 
 /**
@@ -544,6 +544,8 @@ void MAVLinkManager::setGPSVelocityData(mavlink_hil_gps_t& hil_gps) {
  * @param hil_gps Reference to the mavlink_hil_gps_t structure to populate.
  */
 void MAVLinkManager::setGPSHeadingData(mavlink_hil_gps_t& hil_gps) {
-    hil_gps.cog = static_cast<uint16_t>(DataRefManager::getFloat("sim/cockpit2/gauges/indicators/ground_track_mag_copilot") * 100);
-    hil_gps.yaw = DataRefManager::getFloat("sim/flightmodel/position/mag_psi") * 100;
+    uint16_t cog = static_cast<uint16_t>(DataRefManager::getFloat("sim/cockpit2/gauges/indicators/ground_track_mag_copilot") * 100);
+    hil_gps.cog = (cog == 0) ? 360 : cog;
+    uint16_t yaw = static_cast<uint16_t>(DataRefManager::getFloat("sim/flightmodel/position/psi") * 100);
+    hil_gps.yaw = (yaw == 0) ? 360 : yaw;
 }

src/px4xplane.cpp

@@ -296,16 +296,16 @@ float MyFlightLoopCallback(float inElapsedSinceLastCall, float inElapsedTimeSinc
     // Call MAVLinkManager::sendHILSensor() to send HIL_SENSOR data
     MAVLinkManager::sendHILSensor(uint8_t(0));
     MAVLinkManager::sendHILGPS();
-    MAVLinkManager::sendHILStateQuaternion();
-    MAVLinkManager::sendHILRCInputs();
+    //MAVLinkManager::sendHILStateQuaternion();
+    //MAVLinkManager::sendHILRCInputs();
 
     ConnectionManager::receiveData();
 
     // Check the configuration type and call the appropriate actuator override function
     if (ConfigManager::getConfigTypeCode() == 1) {
         // Multirotor configuration
         DataRefManager::overrideActuators_multirotor();
-    } else if (ConfigManager::getConfigTypeCode() == 2) {
+    } else {
         // Fixed-wing configuration
          DataRefManager::overrideActuators_fixedwing();
     }