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Remove HITL_STATE_QUATERNION #82

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Remove HITL_STATE_QUATERNION #82

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47 changes: 0 additions & 47 deletions src/me/drton/jmavsim/MAVLinkHILSystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -91,14 +91,6 @@ public void handleMessage(MAVLinkMessage msg) {

vehicle.setControl(control);

} else if ("COMMAND_LONG".equals(msg.getMsgName())) {
int command = msg.getInt("command");
if (command == 511) { //MAV_CMD_SET_MESSAGE_INTERVAL
int msg_id = (int)(msg.getFloat("param1") + 0.5);
if (msg_id == 115) { //HIL_STATE_QUATERNION
hilStateUpdateInterval = (int)(msg.getFloat("param2") + 0.5);
}
}
} else if ("HEARTBEAT".equals(msg.getMsgName())) {
if (!gotHeartBeat && !stopped) {
if (sysId < 0 || sysId == msg.systemID) {
Expand Down Expand Up @@ -188,45 +180,6 @@ public void update(long t) {
}
sendMessage(msg_sensor);

/* ground truth */
if (hilStateUpdateInterval != -1 && nextHilStatePub <= tu) {
MAVLinkMessage msg_hil_state = new MAVLinkMessage(schema, "HIL_STATE_QUATERNION", sysId,
componentId, protocolVersion);
msg_hil_state.set("time_usec", tu);

Float[] q = RotationConversion.quaternionByEulerAngles(vehicle.attitude);
msg_hil_state.set("attitude_quaternion", q);

Vector3d v3d = vehicle.getRotationRate();
msg_hil_state.set("rollspeed", (float) v3d.x);
msg_hil_state.set("pitchspeed", (float) v3d.y);
msg_hil_state.set("yawspeed", (float) v3d.z);

int alt = (int)(1000 * vehicle.position.z);
msg_hil_state.set("alt", alt);
msg_hil_state.set("lat", (int)(sensors.getGlobalPosition().lat * 1.e7));
msg_hil_state.set("lon", (int)(sensors.getGlobalPosition().lon * 1.e7));

v3d = vehicle.getVelocity();
msg_hil_state.set("vx", (int)(v3d.x * 100));
msg_hil_state.set("vy", (int)(v3d.y * 100));
msg_hil_state.set("vz", (int)(v3d.z * 100));

Vector3d airSpeed = new Vector3d(vehicle.getVelocity());
airSpeed.scale(-1.0);
airSpeed.add(vehicle.getWorld().getEnvironment().getCurrentWind(vehicle.position));
float as_mag = (float) airSpeed.length();
msg_hil_state.set("true_airspeed", (int)(as_mag * 100));

v3d = vehicle.acceleration;
msg_hil_state.set("xacc", (int)(v3d.x * 1000));
msg_hil_state.set("yacc", (int)(v3d.y * 1000));
msg_hil_state.set("zacc", (int)(v3d.z * 1000));

sendMessage(msg_hil_state);
nextHilStatePub = tu + hilStateUpdateInterval;
}

// GPS
if (sensors.isGPSUpdated()) {
GNSSReport gps = sensors.getGNSS();
Expand Down
1 change: 0 additions & 1 deletion src/me/drton/jmavsim/Simulator.java
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Expand Up @@ -181,7 +181,6 @@ public Simulator() throws IOException, InterruptedException {
connCommon.addSkipMessage(schema.getMessageDefinition("HIL_ACTUATOR_CONTROLS").id);
connCommon.addSkipMessage(schema.getMessageDefinition("HIL_SENSOR").id);
connCommon.addSkipMessage(schema.getMessageDefinition("HIL_GPS").id);
connCommon.addSkipMessage(schema.getMessageDefinition("HIL_STATE_QUATERNION").id);
}
world.addObject(connCommon);

Expand Down