Hi Erik
Thanks for the input, by the way I thought that bidirectional transmission
was unsupported. I tried to put both my input and outputs in the same xml
file and choose bi directional support but I keeping getting an error
message saying that bidirectional support is not supported, I have included
the .xml file I've been using so you can take a look is there something that
I'm doing wrong?
On Mon, Aug 8, 2011 at 3:19 AM, Erik Hofman <e...@ehofman.com> wrote:
> On Sun, 2011-08-07 at 20:33 -0400, Derrick Washington wrote:
> > Hi
> >
> > I need to know if the inputs coming from FG, while using a generic
> > protocol having binary mode set to true, are coming in as integers
> > that need to be converted to floating point or is FG actually sending
> > in a floating point word, a byte at a time? So my code to receive FG
> > data looks something like this....
> >
> >
> > for ( int i = 0; i <= 3; i++ ) { dummy_var = (dummy_var << 8) |
> > rs232_uart1; }
> >
> > return ( (float) dummy_var);
> >
> > What I am wondering is, is the " return ( (float) dummy_var); " cast
> > to a float necessary, or is the number already in floating point
> > format, if so then I need to instruct my hardware to retrieve a full
> > word at a time. I've included the xml file just in case you guys have
> > any questions about what data I am asking FG to transmit.
>
> Floats are sent as floats and (depending on which version of FlightGear
> you're using, doubles as doubles but they where added in a later
> version).
>
> BTW you can (and have to) specify a separate section for input and for
> output in the same protocol configuration file if you want
> bi-directional communication.
>
> Erik
>
>
>
>
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<?xml version="1.0"?>
<PropertyList>
<generic>
<!-- INPUT CONTROLS
<line_separator>\n</line_separator>
<var_separator>,</var_separator>
<chunk>
<name>Gears </name>
<type>float</type>
<node>/controls/gear/gear-down</node>
</chunk>
-->
<input>
<line_separator>\n</line_separator>
<var_separator>,</var_separator>
<chunk>
<name>Throttle (rad)</name>
<type>integer</type>
<node>/controls/engines/engine[0]/throttle</node>
</chunk>
<chunk>
<name>Throttle (rad)</name>
<type>integer</type>
<node>/controls/engines/engine[1]/throttle</node>
</chunk>
<chunk>
<name>Aileron (rad)</name>
<type>float</type>
<node>/controls/flight/aileron</node>
</chunk>
<chunk>
<name>Elevator (rad)</name>
<type>float</type>
<node>/controls/flight/elevator</node>
</chunk>
<chunk>
<name>rudder (rad)</name>
<type>float</type>
<node>/controls/flight/rudder</node>
</chunk>
<chunk>
<name>Steering </name>
<type>float</type>
<node>/controls/gear/steering</node>
</chunk>
</input>
<output>
<binary_mode>true</binary_mode>
<!-- GPS output of course to allow the plane to actually fly to it destination, and for some angle calculations -->
<chunk>
<name>Speed</name>
<node>/velocities/airspeed-kt</node>
</chunk>
<chunk>
<name>Altitude </name>
<node>/position/altitude-ft</node>
</chunk>
<chunk>
<name>Latitude-deg </name>
<node>/position/latitude-deg</node>
</chunk>
<chunk>
<name>Longitude-deg (rad)</name>
<node>/position/longitude-deg</node>
</chunk>
<!-- Orientation angular rate outputs to allow my HiL to calculate the orientation angles -->
<chunk>
<name>Pitch rate (deg per sec)</name>
<node>/orientation/pitch-rate-degps</node>
</chunk>
<chunk>
<name>Roll rate (deg per sec)</name>
<node>/orientation/roll-rate-degps</node>
</chunk>
<chunk>
<name>Yaw Rate (deg per sec )</name>
<node>/orientation/yaw-rate-degps</node>
</chunk>
<!-- Accelerometer magnitude outputs to allow my HiL to calculate the orientation angles -->
<chunk>
<name>Accelerometer X (ft per sec)</name>
<node>/accelerations/x-accel-fps_sec</node>
</chunk>
<chunk>
<name>Accelerometer Y (ft per sec)</name>
<node>/accelerations/y-accel-fps_sec</node>
</chunk>
<chunk>
<name>Accelerometer Z (ft per sec)</name>
<node>/accelerations/z-accel-fps_sec</node>
</chunk>
<!-- Orientation Angles output for comparason with calculated angles done by my HiL
<chunk>
<name>Roll Angle (deg)</name>
<node>/orientation/roll-deg</node>
</chunk>
<chunk>
<name>Pitch Angle (deg)</name>
<node>/orientation/pitch-deg</node>
</chunk>
<chunk>
<name>Yaw Rate (deg)</name>
<node>/orientation/yaw-deg</node>
</chunk>
-->
</output>
</generic>
</PropertyList>------------------------------------------------------------------------------
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