ArduPilot and Jasons Sim. Realtime 3D

It was exciting for me to see Jasons Sim working in 3D, so I thought I would share a pic

>> With the minor modification shown below which adjusts the climbrates

// guess the climb rate

// --------------------

if(pitch_sensor >= 0){

climb_rate = (pitch_sensor * (CLIMBRATE_UP/100) * (long)dTnav) / 90000L;

}else{

climb_rate = (pitch_sensor * (CLIMBRATE_DOWN/100) * (long)dTnav) / 90000L;

}

current_loc.alt += climb_rate;

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Comments

  • Thanks Jason, I've been using GCS = 0 (labview). I'll re-check what I'm doing
  • Developer
    Tim,
    Which ground station output type are you using?

    our heading outputs are 0 - 360 0 = north 90 = east, etc...
    mainly we output:
    target_bearing - waypoint from plane to target
    ground_course - current path of plane

    If you output my GCS, the values are scaled * 100;

    Jason
  • 5.1.3 but I am going to switch it to late binding so it will load any version
  • @Tim,
    which version of Google Earth are you using?
  • Mike/Jason

    Forgot to add

    Analogs can be resized by activating them and then using the mouse wheel

    Analog and map window positions are retained and restored when the gcs is next opened.

    This means you can position them on top of google earth or to the side/below
  • I've got some work to do showing the course and bearing correctly. Would you mind clarifying the names of these few telemetry tags and exactly what they contain. I will then test in all modes.

    Much appreciated
  • Jason, i've emailed you a link but couldn't add any more text to the message so here are a few notes

    Waypoints only show if gcs is already on when ap is switched on. (but you know that already)

    Switch off or close gcs before closing earth or your get an exception.

    The analog instruments can be switched on but need more work. Switch off the (None) option or they don't open

    If you close down and restart and then get a local server connect error then just shutdown the ArduFab.exe process. It starts a tcp server on port 8080 which provides cached images and kml to earth

    Analog/digital computer is being replaced with a google earth OSD so it looks rubbish at the moment

    Some properties (options) don't work yet but here are some useful ones

    Camera range. When the model went to 20,000 meters I had to switch the range to 35000 and the model scale to 90. But the defaults should work nicely now the sim alt is fixed. If the range is too close or too far back then you might not see the model without altering the scale. A range of 300 and scale of 10 should work okay. I'm working on some intelligence for these options.

    Camera height: Defaults to 0 but try 50 and 80.

    Model Scale: Useful to allow the camera to be further back but forcing the 3D model to be larger

    In earth some of the options are not currently working. such as spotter and the view from home

    If you switch on glass cockpit then untick the 3D model or you get to see inside the nose of the model :)

    If you want to switch off the camera so it becomes static then right click the fab updater in earth and untick "fly to view"

    The default refresh rate is .2 of a second. You can alter this to 1 or 2 seconds (or ano) again by setting the properties of the fab updater. You can not then set the refresh back to .2 of a second but you can delete the updater and restart the gcs session which will re-instate the updater

    When you close earth it is simpler to select "discard" temporay places but you don't have too.

    Finally, the "route taken" at the bottom of the earth folder tree shows the route but to view is properly you either have to stop the gcs or select a view with a decent range
  • Developer
    Hi Tim,
    That's odd, Ground course and target bearing should be 0-360
    Bearing error is -180 to 180
    Jason
  • Jason, one question about the "course" you send via telem. I've been getting -180-+180 for course with a 406, but when I set your GPS mode 5 i get 0-360.

    Am I going bonkers? Which one is correct? Thanks
  • I will email one for you. it's a week or so away from full release. do you have windows with .net 4 installed. I can do a .net2 build if you like but the serial sometimes crashes when you close the app. ms have fixed a bug in 4.0

    That was a minor bug. I can't thank you enough for your current strive to finish off the ardupilot code!
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