unstable flight (possible motor combination) and magnetometer problem…

… only

ConnectionManager.cpp

@@ -20,6 +20,7 @@
 
 #include <fstream>
 #include <sstream>
+#include "DataRefManager.h"
 
 
 static bool connected = false;
@@ -101,6 +102,7 @@ void ConnectionManager::acceptConnection() {
     connected = true;
     status = "Connected";
     setLastMessage("Connected to SITL successfully.");
+    DataRefManager::enableOverride();
     //motorMappings = loadMotorMappings("config.ini");
     // Hard-coded motor mappings
     motorMappings[1] = 4;
@@ -177,6 +179,7 @@ void ConnectionManager::disconnect() {
     sockfd = -1;
     closeSocket(newsockfd); // Close the newsockfd
     newsockfd = -1;
+    DataRefManager::disableOverride();
     connected = false;
     status = "Disconnected";
     setLastMessage("Disconnected from SITL.");
@@ -258,12 +261,14 @@ void ConnectionManager::receiveData() {
         int bytesReceived = recv(newsockfd, reinterpret_cast<char*>(buffer), sizeof(buffer) - 1, 0);
         if (bytesReceived < 0) {
             XPLMDebugString("px4xplane: Error receiving data\n");
+            setLastMessage("Error receiving from PX4!"); // Store the received message
+
         }
         else if (bytesReceived > 0) {
             buffer[bytesReceived] = '\0'; // Null-terminate the received data
-            setLastMessage(reinterpret_cast<char*>(buffer)); // Store the received message
+            setLastMessage("Receiving from PX4!"); // Store the received message
             //XPLMDebugString("px4xplane: Data received: ");
-            XPLMDebugString(reinterpret_cast<char*>(buffer)); // Write the received message to the X-Plane log
+            //XPLMDebugString(reinterpret_cast<char*>(buffer)); // Write the received message to the X-Plane log
 
             // Call MAVLinkManager::receiveHILActuatorControls() function here
             MAVLinkManager::receiveHILActuatorControls(buffer, bytesReceived);

DataRefManager.cpp

@@ -186,7 +186,7 @@ std::tuple<float, float, float> DataRefManager::convertOGLtoNED(float ogl_vx, fl
 	R[0][1] = cos(yaw_rad) * sin(pitch_rad) * sin(roll_rad) - sin(yaw_rad) * cos(roll_rad);
 	R[0][2] = cos(yaw_rad) * sin(pitch_rad) * cos(roll_rad) + sin(yaw_rad) * sin(roll_rad);
 
-	R[1][0] = sin(yaw_rad) * cos(pitch_rad);
+	R[1][0] = sin(yaw_rad) * cos(pitch_rad);    
 	R[1][1] = sin(yaw_rad) * sin(pitch_rad) * sin(roll_rad) + cos(yaw_rad) * cos(roll_rad);
 	R[1][2] = sin(yaw_rad) * sin(pitch_rad) * cos(roll_rad) - cos(yaw_rad) * sin(roll_rad);
 
@@ -202,6 +202,14 @@ std::tuple<float, float, float> DataRefManager::convertOGLtoNED(float ogl_vx, fl
 	return std::make_tuple(ned_vn, ned_ve, ned_vd);
 }
 
+void DataRefManager::enableOverride() {
+		XPLMSetDatai(XPLMFindDataRef("sim/operation/override/override_throttles"), 1);
+	}
+
+void DataRefManager::disableOverride() {
+		XPLMSetDatai(XPLMFindDataRef("sim/operation/override/override_throttles"), 0);
+	}
+
 
 void DataRefManager::overrideActuators() {
 	// Get the HILActuatorControlsData from MAVLinkManager
@@ -219,6 +227,9 @@ void DataRefManager::overrideActuators() {
 		correctedControls.controls[xplaneMotor - 1] = hilControls.controls[i];
 	}
 
+	// Enable the override (already enabled)
+	//DataRefManager::enableOverride();
+
 	// Override the throttle dataref in X-Plane for all engines at once
 	std::string dataRef = "sim/flightmodel/engine/ENGN_thro_use";
 	XPLMSetDatavf(XPLMFindDataRef(dataRef.c_str()), correctedControls.controls, 0, 16);

DataRefManager.h

@@ -46,5 +46,8 @@ class DataRefManager {
     static std::tuple<float, float, float> convertOGLtoNED(float ogl_vx, float ogl_vy, float ogl_vz, float roll_rad, float pitch_rad, float yaw_rad);
     static void drawActuatorControls(XPLMWindowID in_window_id, int l, int t, float col_white[], int lineOffset);
     static void overrideActuators();
+    static void enableOverride();
+    static void disableOverride();
+
 };
 

MAVLinkManager.cpp

@@ -214,7 +214,7 @@ void MAVLinkManager::sendHILRCInputs() {
     hil_rc_inputs.chan2_raw = static_cast<uint16_t>(DataRefManager::mapChannelValue(DataRefManager::getFloat("sim/joystick/yoke_pitch_ratio"), -1, +1, 1000, 2000));
     hil_rc_inputs.chan3_raw = static_cast<uint16_t>(DataRefManager::mapChannelValue(DataRefManager::getFloat("sim/cockpit2/engine/actuators/throttle_ratio_all"),0, +1, 1000, 2000));
     hil_rc_inputs.chan4_raw = static_cast<uint16_t>(DataRefManager::mapChannelValue(DataRefManager::getFloat("sim/joystick/yoke_heading_ratio"), -1, +1, 1000, 2000));
-    hil_rc_inputs.chan4_raw = static_cast<uint16_t>(DataRefManager::mapChannelValue(0, -1, +1, 1000, 2000));
+    hil_rc_inputs.chan5_raw = static_cast<uint16_t>(DataRefManager::mapChannelValue(0, -1, +1, 1000, 2000));
     // Map the remaining channels as needed
 
     hil_rc_inputs.rssi = 255; // Set the RSSI field to a constant value if not available

px4xplane.cpp

@@ -144,7 +144,7 @@ void draw_px4xplane(XPLMWindowID in_window_id, void* in_refcon) {
 	DataRefManager::drawDataRefs(in_window_id, l + 10, t - lineOffset, col_white, lineOffset);
 
 
-	int rightColumnPosition = l + 300;
+	int rightColumnPosition = l + 350;
 
 	DataRefManager::drawActuatorControls(in_window_id, rightColumnPosition, t, col_white, lineOffset);