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* see discussion https://discordapp.com/channels/539048679160676382/539925070550794240/687390301530095634 * we now use *-1 inversion, not "~" (vPilot also uses *-1) * rational: with "~" 0 becomes -1 (that is why we saw so many -1 P/B values on ground)
97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
/* Copyright (C) 2019
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* swift project community / contributors
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*
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* This file is part of swift project. It is subject to the license terms in the LICENSE file found in the top-level
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* directory of this distribution. No part of swift project, including this file, may be copied, modified, propagated,
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* or distributed except according to the terms contained in the LICENSE file.
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*/
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//! \file
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#ifndef BLACKCORE_FSD_PBH_H
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#define BLACKCORE_FSD_PBH_H
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#include <QtGlobal>
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#include <QtMath>
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namespace BlackCore
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{
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namespace Fsd
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{
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//! Pitch bank heading union
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union PBH
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{
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unsigned int pbh = 0; //!< Pitch/Bank/Heading as integer value
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struct
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{
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unsigned int unused : 1; //!< unused bit
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unsigned int onground : 1; //!< Onground flag
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unsigned int hdg : 10; //!< Heading
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int bank : 10; //!< Bank
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int pitch : 10; //!< Pitch
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};
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};
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//! Pitch multiplier
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constexpr double pitchMultiplier()
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{
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return 256.0 / 90.0;
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}
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//! Bank multiplier
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constexpr double bankMultiplier()
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{
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return 512.0 / 180.0;
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}
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//! Heading multiplier
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constexpr double headingMultiplier()
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{
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return 1024.0 / 360.0;
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}
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//! Pack pitch, bank, heading and onGround into 32 bit integer
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inline void packPBH(double pitch, double bank, double heading, bool onGround, quint32 &pbh)
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{
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PBH pbhstrct;
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pbhstrct.pitch = qFloor(pitch * -pitchMultiplier()); // the "-" is the inverted pitch/bank
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pbhstrct.bank = qFloor(bank * -bankMultiplier());
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pbhstrct.hdg = static_cast<unsigned int>(heading * headingMultiplier());
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// FSD has inverted pitch and bank angles
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// based on discussion https://discordapp.com/channels/539048679160676382/539925070550794240/687390301530095634
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// we use *-1 inversion, not "~" (vPilot also uses *-1)
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// with "~" 0->-1 (that is why we saw many -1 PB values on ground)
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// pbhstrct.pitch = ~pbhstrct.pitch;
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// pbhstrct.bank = ~pbhstrct.bank;
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pbhstrct.onground = onGround ? 1 : 0;
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pbh = pbhstrct.pbh;
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}
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//! Unpack pitch, bank, heading and onGround from 32 bit integer
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inline void unpackPBH(quint32 pbh, double &pitch, double &bank, double &heading, bool &onGround)
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{
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PBH pbhstrct;
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pbhstrct.pbh = pbh;
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const int iPitch = qFloor(pbhstrct.pitch / -pitchMultiplier()); // the "-" is the inverted pitch/bank
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const int iBank = qFloor(pbhstrct.bank / -bankMultiplier());
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// FSD has inverted pitch and bank angles
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// based on discussion https://discordapp.com/channels/539048679160676382/539925070550794240/687390301530095634
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// we use *-1 inversion, not "~" (vPilot also uses *-1)
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// with "~" 0->-1 (that is why we saw many -1 PB values on ground)
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// iPitch = ~iPitch;
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// iBank = ~iBank;
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pitch = iPitch;
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bank = iBank;
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heading = pbhstrct.hdg / headingMultiplier();
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onGround = pbhstrct.onground == 1;
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}
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}
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}
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#endif // guard
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