#include <SIM_XPlane.h>

Inheritance diagram for SITL::XPlane:

Collaboration diagram for SITL::XPlane:

Public Member Functions
	XPlane (const char home_str, const char frame_str)

void	update (const struct sitl_input &input)

Public Member Functions inherited from SITL::Aircraft
	Aircraft (const char home_str, const char frame_str)

void	set_speedup (float speedup)

void	set_instance (uint8_t _instance)

void	set_autotest_dir (const char *_autotest_dir)

virtual void	set_interface_ports (const char *address, const int port_in, const int port_out)

void	fill_fdm (struct sitl_fdm &fdm)

void	smooth_sensors (void)

float	get_rate_hz (void) const

const Vector3f &	get_gyro (void) const

const Vector3f &	get_velocity_ef (void) const

const Vector3f &	get_velocity_air_ef (void) const

const Matrix3f &	get_dcm (void) const

const Vector3f &	get_mag_field_bf (void) const

virtual float	gross_mass () const

const Location &	get_location () const

const Vector3f &	get_position () const

void	get_attitude (Quaternion &attitude) const

Static Public Member Functions
static Aircraft *	create (const char home_str, const char frame_str)

Static Public Member Functions inherited from SITL::Aircraft
static double	rand_normal (double mean, double stddev)

static bool	parse_home (const char *home_str, Location &loc, float &yaw_degrees)

Private Types
enum	{ FramRate = 0, Times = 1, SimStats = 2, Speed = 3, Gload = 4, AtmosphereWeather = 5, AtmosphereAircraft = 6, SystemPressures = 7, Joystick1 = 8, Joystick2 = 9, ArtStab = 10, FlightCon = 11, WingSweep = 12, Trim = 13, Brakes = 14, AngularMoments = 15, AngularVelocities = 16, PitchRollHeading = 17, AoA = 18, MagCompass = 19, LatLonAlt = 20, LocVelDistTraveled = 21, ThrottleCommand = 25, Mixture = 29, CarbHeat = 30, EngineRPM = 37, PropRPM = 38, PropPitch = 39, Generator = 58 }

Private Member Functions
bool	receive_data (void)

void	send_dref (const char *name, float value)

void	send_data (const struct sitl_input &input)

void	select_data (uint64_t usel_mask, uint64_t sel_mask)

Private Attributes
const char *	xplane_ip = "127.0.0.1"

uint16_t	xplane_port = 49000

uint16_t	bind_port = 49001

SocketAPM	socket_in {true}

SocketAPM	socket_out {true}

uint64_t	time_base_us

uint32_t	last_data_time_ms

Vector3f	position_zero

Vector3f	accel_earth

float	throttle_sent = -1

bool	connected = false

uint32_t	xplane_frame_time

struct {
uint32_t last_report_ms

uint32_t data_count

uint32_t frame_count

}	report

float	last_flap

bool	heli_frame

uint64_t	unselected_mask

const float	throttle_magic = 0.000123f

const float	throttle_magic_scale = 1.0e6

Additional Inherited Members
Protected Types inherited from SITL::Aircraft
enum	{ GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }

Protected Member Functions inherited from SITL::Aircraft
float	ground_height_difference () const

virtual bool	on_ground () const

float	hagl () const

void	update_position (void)

void	update_mag_field_bf (void)

void	time_advance ()

void	setup_frame_time (float rate, float speedup)

void	adjust_frame_time (float rate)

void	sync_frame_time (void)

void	add_noise (float throttle)

uint64_t	get_wall_time_us (void) const

void	update_dynamics (const Vector3f &rot_accel)

void	update_wind (const struct sitl_input &input)

float	filtered_idx (float v, uint8_t idx)

float	filtered_servo_angle (const struct sitl_input &input, uint8_t idx)

float	filtered_servo_range (const struct sitl_input &input, uint8_t idx)

void	extrapolate_sensors (float delta_time)

Protected Attributes inherited from SITL::Aircraft
SITL *	sitl

Location	home

Location	location

float	ground_level

float	home_yaw

float	frame_height

Matrix3f	dcm

Vector3f	gyro

Vector3f	gyro_prev

Vector3f	ang_accel

Vector3f	velocity_ef

Vector3f	wind_ef

Vector3f	velocity_air_ef

Vector3f	velocity_air_bf

Vector3f	position

float	mass

Vector3f	accel_body

float	airspeed

float	airspeed_pitot

float	battery_voltage = -1.0f

float	battery_current = 0.0f

float	rpm1 = 0

float	rpm2 = 0

uint8_t	rcin_chan_count = 0

float	rcin [8]

float	range = -1.0f

float	turbulence_azimuth = 0.0f

float	turbulence_horizontal_speed = 0.0f

float	turbulence_vertical_speed = 0.0f

Vector3f	mag_bf

uint64_t	time_now_us

const float	gyro_noise

const float	accel_noise

float	rate_hz

float	achieved_rate_hz

float	target_speedup

uint64_t	frame_time_us

float	scaled_frame_time_us

uint64_t	last_wall_time_us

uint8_t	instance

const char *	autotest_dir

const char *	frame

bool	use_time_sync = true

float	last_speedup = -1.0f

AP_Int8 *	ahrs_orientation

enum SITL::Aircraft:: { ... }	ground_behavior

bool	use_smoothing

AP_Terrain *	terrain

const float	FEET_TO_METERS = 0.3048f

const float	KNOTS_TO_METERS_PER_SECOND = 0.51444f

Detailed Description

Definition at line 30 of file SIM_XPlane.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
FramRate
Times
SimStats
Speed
Gload
AtmosphereWeather
AtmosphereAircraft
SystemPressures
Joystick1
Joystick2
ArtStab
FlightCon
WingSweep
Trim
Brakes
AngularMoments
AngularVelocities
PitchRollHeading
AoA
MagCompass
LatLonAlt
LocVelDistTraveled
ThrottleCommand
Mixture
CarbHeat
EngineRPM
PropRPM
PropPitch
Generator

Definition at line 80 of file SIM_XPlane.h.

Constructor & Destructor Documentation

◆ XPlane()

SITL::XPlane::XPlane	(	const char *	home_str,
		const char *	frame_str
	)

Definition at line 35 of file SIM_XPlane.cpp.

Referenced by create().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Function Documentation

◆ create()

static Aircraft* SITL::XPlane::create	(	const char *	home_str,
		const char *	frame_str
	)

inlinestatic

Definition at line 38 of file SIM_XPlane.h.

Here is the call graph for this function:

◆ receive_data()

bool SITL::XPlane::receive_data ( void )

private

Definition at line 101 of file SIM_XPlane.cpp.

Referenced by create(), and update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ select_data()

void SITL::XPlane::select_data	(	uint64_t	usel_mask,
		uint64_t	sel_mask
	)

private

Definition at line 59 of file SIM_XPlane.cpp.

Referenced by create(), and receive_data().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ send_data()

void SITL::XPlane::send_data ( const struct sitl_input & input )

private

Definition at line 357 of file SIM_XPlane.cpp.

Referenced by create(), and update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ send_dref()

void SITL::XPlane::send_dref	(	const char *	name,
		float	value
	)

private

Definition at line 446 of file SIM_XPlane.cpp.

Referenced by create(), and send_data().

Here is the caller graph for this function:

◆ update()

void SITL::XPlane::update ( const struct sitl_input & input )

virtual

Implements SITL::Aircraft.

Definition at line 461 of file SIM_XPlane.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ accel_earth

Vector3f SITL::XPlane::accel_earth

private

Definition at line 58 of file SIM_XPlane.h.

Referenced by receive_data().

◆ bind_port

uint16_t SITL::XPlane::bind_port = 49001

private

Definition at line 50 of file SIM_XPlane.h.

Referenced by XPlane().

◆ connected

bool SITL::XPlane::connected = false

private

Definition at line 60 of file SIM_XPlane.h.

Referenced by receive_data().

◆ data_count

uint32_t SITL::XPlane::data_count

Definition at line 64 of file SIM_XPlane.h.

◆ frame_count

uint32_t SITL::XPlane::frame_count

Definition at line 65 of file SIM_XPlane.h.

◆ heli_frame

bool SITL::XPlane::heli_frame

private

Definition at line 70 of file SIM_XPlane.h.

Referenced by receive_data(), send_data(), and XPlane().

◆ last_data_time_ms

uint32_t SITL::XPlane::last_data_time_ms

private

Definition at line 56 of file SIM_XPlane.h.

Referenced by receive_data().

◆ last_flap

float SITL::XPlane::last_flap

private

Definition at line 67 of file SIM_XPlane.h.

Referenced by send_data().

◆ last_report_ms

uint32_t SITL::XPlane::last_report_ms

Definition at line 63 of file SIM_XPlane.h.

◆ position_zero

Vector3f SITL::XPlane::position_zero

private

Definition at line 57 of file SIM_XPlane.h.

Referenced by receive_data().

◆ report

struct { ... } SITL::XPlane::report

Referenced by receive_data(), and update().

◆ socket_in

SocketAPM SITL::XPlane::socket_in {true}

private

Definition at line 52 of file SIM_XPlane.h.

Referenced by receive_data(), and XPlane().

◆ socket_out

SocketAPM SITL::XPlane::socket_out {true}

private

Definition at line 53 of file SIM_XPlane.h.

Referenced by receive_data(), select_data(), send_data(), and send_dref().

◆ throttle_magic

const float SITL::XPlane::throttle_magic = 0.000123f

private

Definition at line 75 of file SIM_XPlane.h.

Referenced by receive_data(), and send_data().

◆ throttle_magic_scale

const float SITL::XPlane::throttle_magic_scale = 1.0e6

private

Definition at line 76 of file SIM_XPlane.h.

Referenced by receive_data().

◆ throttle_sent

float SITL::XPlane::throttle_sent = -1

private

Definition at line 59 of file SIM_XPlane.h.

Referenced by receive_data(), and send_data().

◆ time_base_us

uint64_t SITL::XPlane::time_base_us

private

Definition at line 55 of file SIM_XPlane.h.

Referenced by receive_data().

◆ unselected_mask

uint64_t SITL::XPlane::unselected_mask

private

Definition at line 72 of file SIM_XPlane.h.

Referenced by receive_data(), and select_data().

◆ xplane_frame_time

uint32_t SITL::XPlane::xplane_frame_time

private

Definition at line 61 of file SIM_XPlane.h.

Referenced by receive_data().

◆ xplane_ip

const char* SITL::XPlane::xplane_ip = "127.0.0.1"

private

Definition at line 48 of file SIM_XPlane.h.

Referenced by receive_data(), and XPlane().

◆ xplane_port

uint16_t SITL::XPlane::xplane_port = 49000

private

Definition at line 49 of file SIM_XPlane.h.

Referenced by receive_data(), and XPlane().

The documentation for this class was generated from the following files:

libraries/SITL/SIM_XPlane.h
libraries/SITL/SIM_XPlane.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ XPlane()

Member Function Documentation

◆ create()

◆ receive_data()

◆ select_data()

◆ send_data()

◆ send_dref()

◆ update()

Member Data Documentation

◆ accel_earth

◆ bind_port

◆ connected

◆ data_count

◆ frame_count

◆ heli_frame

◆ last_data_time_ms

◆ last_flap

◆ last_report_ms

◆ position_zero

◆ report

◆ socket_in

◆ socket_out

◆ throttle_magic

◆ throttle_magic_scale

◆ throttle_sent

◆ time_base_us

◆ unselected_mask

◆ xplane_frame_time

◆ xplane_ip

◆ xplane_port