added update magfield by distance

config/config.ini

@@ -1,5 +1,5 @@
 ; PX4-XPlane Configuration File
-; File Version: 1.0
+; File Version: 1.1
 ; Date Created: November 26, 2023
 ; This file configures the mapping of motor and servo channels from PX4 to X-Plane.
 
@@ -10,13 +10,16 @@
 ; - Ensure the mappings correspond to your specific setup.
 ; - Visit the GitHub repository (alireza787b/px4xplane) for more information and updates.
 
+config_version= 1.1
+
+
+
+
 ; Configuration Name (Displayed in UI)
 config_name = FixedWingTest
 
 ; Actuve Configuration Type to Load from below
 active_config_type = FixedWing
-config_version= 1.0
-
 
 [Multirotor]
 ; This section defines the configuration for multirotor vehicles in the simulation.
@@ -39,26 +42,26 @@ motor4 = 4  ; PX4 Motor 4 mapped to X-Plane Motor 4
 ;... up to motor16
 
 
+
 [FixedWing]
 # Configuration for FixedWing channels. Each channel configuration includes:
 # - Dataref: The data reference name in X-Plane.
 # - Type: The data type (e.g., float, floatArray).
 # - 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.
+# Multiple datarefs for a single channel can be separated by a pipe (|).
 
 # 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
+# Datarefs: sim/flightmodel/controls/wing2l_ail1def | sim/flightmodel/controls/wing1l_ail1def
 # Type: float
 # Range: [-20 15] (degrees of deflection)
-channel0 = sim/flightmodel/controls/wing2l_ail1def , float, 0, [-20 15]
+channel0 = sim/flightmodel/controls/wing2l_ail1def, float, 0, [-20 15] | sim/flightmodel/controls/wing1l_ail1def, float, 0, [-20 15]
 
 # 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
+# Datarefs: sim/flightmodel/controls/wing2r_ail1def | sim/flightmodel/controls/wing1r_ail1def
 # Type: float
 # Range: [-20 15] (degrees of deflection)
-channel1 = sim/flightmodel/controls/wing2r_ail1def , float, 0, [-20 15]
+channel1 = sim/flightmodel/controls/wing2r_ail1def, float, 0, [-20 15] | sim/flightmodel/controls/wing1r_ail1def, float, 0, [-20 15]
 
 # Elevator (Servo 3)
 # Dataref: sim/flightmodel/controls/hstab1_elv1def
@@ -72,15 +75,8 @@ channel2 = sim/flightmodel/controls/hstab1_elv1def, float, 0, [-20 15]
 # Range: [-1 1] (idle (0) to full throttle Foreward (+1) )
 channel3 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [0], [-1 1]
 
-# Rudder (Servo 4)
-# Dataref: sim/flightmodel/controls/vstab1_rud1def
-# Type: float
-# Range: [-20 20] (degrees of deflection)
-channel4 = sim/flightmodel/controls/vstab1_rud1def, float, 0, [-20 20]
-
-
-# Steering Gear (Servo 4 same with rudder)
-# Dataref: sim/flightmodel2/gear/tire_steer_command_deg
-# Type: floatArray
-# Range: [-10 10] (degrees of steering)
-channel5 = sim/flightmodel2/gear/tire_steer_command_deg, floatArray, [0], [-10 10]
+# Rudder and Steering Gear (Servo 4)
+# Datarefs: sim/flightmodel/controls/vstab1_rud1def | sim/flightmodel2/gear/tire_steer_command_deg
+# Type: float | floatArray
+# Range: [-20 20] (degrees of deflection) | [-10 10] (degrees of steering)
+channel4 = sim/flightmodel/controls/vstab1_rud1def, float, 0, [-20 20] | sim/flightmodel2/gear/tire_steer_command_deg, floatArray, [0], [-10 10]

include/ConfigManager.h

@@ -8,15 +8,61 @@
 #include <vector>
 #include "SimpleIni.h"
 
+/**
+ * Enumeration of actuator data types.
+ * This enumeration defines the types of data that can be associated with an actuator.
+ * - UNKNOWN: Represents an undefined or unrecognized data type.
+ * - FLOAT_SINGLE: Represents a single floating-point value.
+ * - FLOAT_ARRAY: Represents an array of floating-point values.
+ * This is used to specify how the actuator data should be interpreted and processed.
+ */
 enum ActuatorDataType { UNKNOWN, FLOAT_SINGLE, FLOAT_ARRAY };
 
-struct ActuatorConfig {
+/**
+ * Structure representing the configuration of a single data reference (dataref).
+ * This structure encapsulates all the necessary information for configuring a dataref associated with an actuator.
+ * - datarefName: The name of the dataref.
+ * - dataType: The type of data (e.g., single float, array of floats).
+ * - arrayIndices: Indices in the case of an array data type.
+ * - range: The range of values that the actuator can accept.
+ *
+ * The constructor initializes the structure with the provided values.
+ */
+struct DatarefConfig {
     std::string datarefName;
     ActuatorDataType dataType;
     std::vector<int> arrayIndices;
     std::pair<float, float> range;
+
+    DatarefConfig(const std::string& name, ActuatorDataType type, const std::vector<int>& indices, const std::pair<float, float>& rng)
+        : datarefName(name), dataType(type), arrayIndices(indices), range(rng) {}
 };
 
+/**
+ * Structure representing the configuration of an actuator.
+ * This structure holds a collection of DatarefConfig objects, each representing a specific data reference configuration.
+ * Actuators in a simulation environment can be associated with multiple data references, each potentially having different
+ * data types, indices, and value ranges.
+ *
+ * - datarefs: A vector of DatarefConfig objects.
+ *
+ * The addDatarefConfig method allows adding a new DatarefConfig to the actuator configuration.
+ * The getDatarefConfigs method provides access to the stored DatarefConfig objects.
+ */
+struct ActuatorConfig {
+    std::vector<DatarefConfig> datarefs;
+
+    void addDatarefConfig(const DatarefConfig& config) {
+        datarefs.push_back(config);
+    }
+
+    const std::vector<DatarefConfig>& getDatarefConfigs() const {
+        return datarefs;
+    }
+};
+
+
+
 class ConfigManager {
 public:
     static void loadConfiguration();
@@ -41,10 +87,10 @@ class ConfigManager {
     static void parseFixedWingConfig(CSimpleIniA& ini) ;
     static void parseMultirotorConfig(CSimpleIniA& ini) ;
     static ActuatorDataType stringToDataType(const std::string& typeStr);
-    static void ConfigManager::parseArrayIndices(const std::string& token, ActuatorConfig& config);
-    static void ConfigManager::parseRange(const std::string& token, ActuatorConfig& config);
+    static std::vector<int> ConfigManager::parseArrayIndices(const std::string& token);
+    static std::pair<float, float> ConfigManager::parseRange(const std::string& token);
     static void ConfigManager::parseChannelValue(const std::string& value, ActuatorConfig& config);
-    static void ConfigManager::trimWhitespace(std::string& str);
+     static void ConfigManager::trimWhitespace(std::string& str);
 
 
 

include/DataRefManager.h

@@ -33,6 +33,14 @@ struct DataRefItem {
         std::function<std::vector<float>(const char*)>> getter;
 };
 
+struct GeodeticPosition {
+    float latitude;
+    float longitude;
+    float altitude;
+};
+
+
+
 class DataRefManager {
 public:
     static constexpr float g_earth = 9.81f;
@@ -53,12 +61,18 @@ class DataRefManager {
     static void enableOverride();
     static void disableOverride();
     static int drawActualThrottle(XPLMWindowID in_window_id, int l, int t, float col_white[], int lineOffset);
-    static Eigen::Vector3f updateEarthMagneticFieldNED(float lat, float lon, float alt);
+    static Eigen::Vector3f updateEarthMagneticFieldNED(const GeodeticPosition& position);
+    static float calculateDistance(const GeodeticPosition& pos1, const GeodeticPosition& pos2);
     static Eigen::Vector3f convertNEDToBody(const Eigen::Vector3f& nedVector, float roll, float pitch, float yaw);
     static void initializeMagneticField();
-    static std::string GetFormattedDroneConfig();
-    static float DataRefManager::scaleActuatorCommand(float input, float inputMin, float inputMax, float outputMin, float outputMax);
 
+    static std::string GetFormattedDroneConfig();
+    static float scaleActuatorCommand(float input, float inputMin, float inputMax, float outputMin, float outputMax);
 
+    static float lastLatitude;
+    static float lastLongitude;
+    static float lastAltitude;
+    static GeodeticPosition lastPosition;
+    static constexpr float UPDATE_THRESHOLD=1000;  // Define a threshold for position change in meters
 };
 

include/MAVLinkManager.h

@@ -44,5 +44,7 @@ class MAVLinkManager {
     static void populateHILStateQuaternion(mavlink_hil_state_quaternion_t& hil_state);
     static void sendData(const mavlink_message_t& msg);
     static uint16_t mapRCChannel(float value, float min, float max);
+    static void MAVLinkManager::updateMagneticFieldIfExceededTreshold(const mavlink_hil_gps_t& hil_gps);
+
 
 };