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formgps_position.cpp
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// Copyright (C) 2024 Michael Torrie and the QtAgOpenGPS Dev Team
// SPDX-License-Identifier: GNU General Public License v3.0 or later
//
// This runs every time we get a new GPS fix, or sim position
#include "formgps.h"
#include "cnmea.h"
#include "cmodulecomm.h"
#include "cabline.h"
#include "ccontour.h"
#include "cvehicle.h"
#include "csection.h"
#include "cboundary.h"
#include "ctrack.h"
#include <QQuickView>
#include <QOpenGLContext>
#include <QPair>
#include "glm.h"
#include <string>
#include "aogrenderer.h"
#include "cpgn.h"
#include "qmlutil.h"
//called for every new GPS or simulator position
void FormGPS::UpdateFixPosition()
{
QLocale locale;
//swFrame.Stop();
//Measure the frequency of the GPS updates
//timeSliceOfLastFix = (double)(swFrame.elapsed()) / 1000;
lock.lockForWrite(); //stop GL from updating while we calculate a new position
//get Hz from timeslice
//nowHz = 1 / timeSliceOfLastFix;
nowHz = 1000.0 / swFrame.elapsed(); //convert ms into hz
if (nowHz > 20) nowHz = 20;
if (nowHz < 3) nowHz = 3;
//simple comp filter
gpsHz = 0.98 * gpsHz + 0.02 * nowHz;
//Initialization counter
startCounter++;
if (!isGPSPositionInitialized)
{
InitializeFirstFewGPSPositions();
lock.unlock();
return;
}
//qDebug() << "Easting " << pn.fix.easting << "Northing" << pn.fix.northing << "Time " << swFrame.elapsed() << nowHz;
swFrame.restart();
pn.speed = pn.vtgSpeed;
vehicle.AverageTheSpeed(pn.speed);
/*
//GPS is valid, let's bootstrap the demo field if needed
if(bootstrap_field)
{
fileCreateField();
fileSaveABLines();
bootstrap_field = false;
}
*/
//#region Heading
//calculate current heading only when moving, otherwise use last
if (headingFromSource == "Fix")
{
//#region Start
distanceCurrentStepFixDisplay = glm::Distance(prevDistFix, pn.fix);
if ((double)(fd.distanceUser += distanceCurrentStepFixDisplay) > 999) fd.distanceUser = 0;
distanceCurrentStepFixDisplay *= 100;
prevDistFix = pn.fix;
if (fabs(vehicle.avgSpeed) < 1.5 && !isFirstHeadingSet)
goto byPass;
if (!isFirstHeadingSet) //set in steer settings, Stanley
{
prevFix.easting = stepFixPts[0].easting; prevFix.northing = stepFixPts[0].northing;
if (stepFixPts[2].isSet == 0)
{
//this is the first position no roll or offset correction
if (stepFixPts[0].isSet == 0)
{
stepFixPts[0].easting = pn.fix.easting;
stepFixPts[0].northing = pn.fix.northing;
stepFixPts[0].isSet = 1;
lock.unlock();
return;
}
//and the second
if (stepFixPts[1].isSet == 0)
{
for (int i = totalFixSteps - 1; i > 0; i--) stepFixPts[i] = stepFixPts[i - 1];
stepFixPts[0].easting = pn.fix.easting;
stepFixPts[0].northing = pn.fix.northing;
stepFixPts[0].isSet = 1;
lock.unlock();
return;
}
//the critcal moment for checking initial direction/heading.
for (int i = totalFixSteps - 1; i > 0; i--) stepFixPts[i] = stepFixPts[i - 1];
stepFixPts[0].easting = pn.fix.easting;
stepFixPts[0].northing = pn.fix.northing;
stepFixPts[0].isSet = 1;
gpsHeading = atan2(pn.fix.easting - stepFixPts[2].easting,
pn.fix.northing - stepFixPts[2].northing);
if (gpsHeading < 0) gpsHeading += glm::twoPI;
else if (gpsHeading > glm::twoPI) gpsHeading -= glm::twoPI;
vehicle.fixHeading = gpsHeading;
//set the imu to gps heading offset
if (ahrs.imuHeading != 99999)
{
double imuHeading = (glm::toRadians(ahrs.imuHeading));
imuGPS_Offset = 0;
//Difference between the IMU heading and the GPS heading
double gyroDelta = (imuHeading + imuGPS_Offset) - gpsHeading;
if (gyroDelta < 0) gyroDelta += glm::twoPI;
else if (gyroDelta > glm::twoPI) gyroDelta -= glm::twoPI;
//calculate delta based on circular data problem 0 to 360 to 0, clamp to +- 2 Pi
if (gyroDelta >= -glm::PIBy2 && gyroDelta <= glm::PIBy2) gyroDelta *= -1.0;
else
{
if (gyroDelta > glm::PIBy2) { gyroDelta = glm::twoPI - gyroDelta; }
else { gyroDelta = (glm::twoPI + gyroDelta) * -1.0; }
}
if (gyroDelta > glm::twoPI) gyroDelta -= glm::twoPI;
else if (gyroDelta < -glm::twoPI) gyroDelta += glm::twoPI;
//moe the offset to line up imu with gps
imuGPS_Offset = (gyroDelta);
//rounding a floating point number doesn't make sense.
//imuGPS_Offset = Math.Round(imuGPS_Offset, 6);
if (imuGPS_Offset >= glm::twoPI) imuGPS_Offset -= glm::twoPI;
else if (imuGPS_Offset <= 0) imuGPS_Offset += glm::twoPI;
//determine the Corrected heading based on gyro and GPS
imuCorrected = imuHeading + imuGPS_Offset;
if (imuCorrected > glm::twoPI) imuCorrected -= glm::twoPI;
else if (imuCorrected < 0) imuCorrected += glm::twoPI;
vehicle.fixHeading = imuCorrected;
}
//set the camera
camera.camHeading = glm::toDegrees(gpsHeading);
//now we have a heading, fix the first 3
if (vehicle.antennaOffset != 0)
{
for (int i = 0; i < 3; i++)
{
stepFixPts[i].easting = (cos(-gpsHeading) * vehicle.antennaOffset) + stepFixPts[i].easting;
stepFixPts[i].northing = (sin(-gpsHeading) * vehicle.antennaOffset) + stepFixPts[i].northing;
}
}
if (ahrs.imuRoll != 88888)
{
//change for roll to the right is positive times -1
rollCorrectionDistance = tan(glm::toRadians((ahrs.imuRoll))) * -vehicle.antennaHeight;
// roll to left is positive **** important!!
// not any more - April 30, 2019 - roll to right is positive Now! Still Important
for (int i = 0; i < 3; i++)
{
stepFixPts[i].easting = (cos(-gpsHeading) * rollCorrectionDistance) + stepFixPts[i].easting;
stepFixPts[i].northing = (sin(-gpsHeading) * rollCorrectionDistance) + stepFixPts[i].northing;
}
}
//get the distance from first to 2nd point, update fix with new offset/roll
stepFixPts[0].distance = glm::Distance(stepFixPts[1], stepFixPts[0]);
pn.fix.easting = stepFixPts[0].easting;
pn.fix.northing = stepFixPts[0].northing;
isFirstHeadingSet = true;
TimedMessageBox(2000, "Direction Reset", "Forward is Set");
lastGPS = pn.fix;
lock.unlock();
return;
}
}
//#endregion
//#region Offset Roll
if (vehicle.antennaOffset != 0)
{
pn.fix.easting = (cos(-gpsHeading) * vehicle.antennaOffset) + pn.fix.easting;
pn.fix.northing = (sin(-gpsHeading) * vehicle.antennaOffset) + pn.fix.northing;
}
uncorrectedEastingGraph = pn.fix.easting;
//originalEasting = pn.fix.easting;
if (ahrs.imuRoll != 88888)
{
//change for roll to the right is positive times -1
rollCorrectionDistance = sin(glm::toRadians((ahrs.imuRoll))) * -vehicle.antennaHeight;
correctionDistanceGraph = rollCorrectionDistance;
pn.fix.easting = (cos(-gpsHeading) * rollCorrectionDistance) + pn.fix.easting;
pn.fix.northing = (sin(-gpsHeading) * rollCorrectionDistance) + pn.fix.northing;
}
//#endregion
//#region Fix Heading
double minFixHeadingDistSquared;
double newGPSHeading;
double imuHeading;
double camDelta;
double gyroDelta;
//imu on board
if (ahrs.imuHeading != 99999)
{
//check for out-of bounds fusion weights in case config
//file was edited and changed inappropriately.
//TODO move this sort of thing to FormGPS::load_settings
if (ahrs.fusionWeight > 0.4) ahrs.fusionWeight = 0.4;
if (ahrs.fusionWeight < 0.2) ahrs.fusionWeight = 0.2;
//how far since last fix
distanceCurrentStepFix = glm::Distance(stepFixPts[0], pn.fix);
if (distanceCurrentStepFix < gpsMinimumStepDistance)
{
goto byPass;
}
//userDistance can be reset
minFixHeadingDistSquared = minHeadingStepDist * minHeadingStepDist;
fixToFixHeadingDistance = 0;
for (int i = 0; i < totalFixSteps; i++)
{
fixToFixHeadingDistance = glm::DistanceSquared(stepFixPts[i], pn.fix);
currentStepFix = i;
if (fixToFixHeadingDistance > minFixHeadingDistSquared)
{
break;
}
}
if (fixToFixHeadingDistance < (minFixHeadingDistSquared * 0.5))
goto byPass;
newGPSHeading = atan2(pn.fix.easting - stepFixPts[currentStepFix].easting,
pn.fix.northing - stepFixPts[currentStepFix].northing);
if (newGPSHeading < 0) newGPSHeading += glm::twoPI;
if (ahrs.isReverseOn)
{
////what is angle between the last valid heading before stopping and one just now
delta = fabs(M_PI - fabs(fabs(newGPSHeading - imuCorrected) - M_PI));
//ie change in direction
if (delta > 1.57) //
{
vehicle.setIsReverse(true);
newGPSHeading += M_PI;
if (newGPSHeading < 0) newGPSHeading += glm::twoPI;
else if (newGPSHeading >= glm::twoPI) newGPSHeading -= glm::twoPI;
isReverseWithIMU = true;
}
else
{
vehicle.setIsReverse(false);
isReverseWithIMU = false;
}
}
else
{
vehicle.setIsReverse(false);
}
if (vehicle.isReverse)
newGPSHeading -= glm::toRadians(vehicle.antennaPivot / 1
* mc.actualSteerAngleDegrees * ahrs.reverseComp);
else
newGPSHeading -= glm::toRadians(vehicle.antennaPivot / 1
* mc.actualSteerAngleDegrees * ahrs.forwardComp);
if (newGPSHeading < 0) newGPSHeading += glm::twoPI;
else if (newGPSHeading >= glm::twoPI) newGPSHeading -= glm::twoPI;
gpsHeading = newGPSHeading;
//#region IMU Fusion
// IMU Fusion with heading correction, add the correction
//current gyro angle in radians
imuHeading = (glm::toRadians(ahrs.imuHeading));
//Difference between the IMU heading and the GPS heading
gyroDelta = 0;
//if (!isReverseWithIMU)
gyroDelta = (imuHeading + imuGPS_Offset) - gpsHeading;
//else
//{
// gyroDelta = 0;
//}
if (gyroDelta < 0) gyroDelta += glm::twoPI;
else if (gyroDelta > glm::twoPI) gyroDelta -= glm::twoPI;
//calculate delta based on circular data problem 0 to 360 to 0, clamp to +- 2 Pi
if (gyroDelta >= -glm::PIBy2 && gyroDelta <= glm::PIBy2) gyroDelta *= -1.0;
else
{
if (gyroDelta > glm::PIBy2) { gyroDelta = glm::twoPI - gyroDelta; }
else { gyroDelta = (glm::twoPI + gyroDelta) * -1.0; }
}
if (gyroDelta > glm::twoPI) gyroDelta -= glm::twoPI;
else if (gyroDelta < -glm::twoPI) gyroDelta += glm::twoPI;
//moe the offset to line up imu with gps
if(!isReverseWithIMU)
imuGPS_Offset += (gyroDelta * (ahrs.fusionWeight));
else
imuGPS_Offset += (gyroDelta * (0.02));
if (imuGPS_Offset > glm::twoPI) imuGPS_Offset -= glm::twoPI;
else if (imuGPS_Offset < 0) imuGPS_Offset += glm::twoPI;
//determine the Corrected heading based on gyro and GPS
imuCorrected = imuHeading + imuGPS_Offset;
if (imuCorrected > glm::twoPI) imuCorrected -= glm::twoPI;
else if (imuCorrected < 0) imuCorrected += glm::twoPI;
//use imu as heading when going slow
vehicle.fixHeading = imuCorrected;
//#endregion
}
else
{
//how far since last fix
distanceCurrentStepFix = glm::Distance(stepFixPts[0], pn.fix);
if (distanceCurrentStepFix < (gpsMinimumStepDistance))
goto byPass;
minFixHeadingDistSquared = minHeadingStepDist * minHeadingStepDist;
fixToFixHeadingDistance = 0;
for (int i = 0; i < totalFixSteps; i++)
{
fixToFixHeadingDistance = glm::DistanceSquared(stepFixPts[i], pn.fix);
currentStepFix = i;
if (fixToFixHeadingDistance > minFixHeadingDistSquared)
{
break;
}
}
if (fixToFixHeadingDistance < minFixHeadingDistSquared * 0.5)
goto byPass;
newGPSHeading = atan2(pn.fix.easting - stepFixPts[currentStepFix].easting,
pn.fix.northing - stepFixPts[currentStepFix].northing);
if (newGPSHeading < 0) newGPSHeading += glm::twoPI;
if (ahrs.isReverseOn)
{
////what is angle between the last valid heading before stopping and one just now
delta = fabs(M_PI - fabs(fabs(newGPSHeading - gpsHeading) - M_PI));
filteredDelta = delta * 0.2 + filteredDelta * 0.8;
//filtered delta different then delta
if (fabs(filteredDelta - delta) > 0.5)
{
vehicle.setIsChangingDirection(true);
}
else
{
vehicle.setIsChangingDirection(false);
}
//we can't be sure if changing direction so do nothing
if (vehicle.isChangingDirection)
goto byPass;
//ie change in direction
if (filteredDelta > 1.57) //
{
vehicle.setIsReverse(true);
newGPSHeading += M_PI;
if (newGPSHeading < 0) newGPSHeading += glm::twoPI;
else if (newGPSHeading >= glm::twoPI) newGPSHeading -= glm::twoPI;
}
else
vehicle.setIsReverse(false);
if (vehicle.isReverse)
newGPSHeading -= glm::toRadians(vehicle.antennaPivot / 1
* mc.actualSteerAngleDegrees * ahrs.reverseComp);
else
newGPSHeading -= glm::toRadians(vehicle.antennaPivot / 1
* mc.actualSteerAngleDegrees * ahrs.forwardComp);
if (newGPSHeading < 0) newGPSHeading += glm::twoPI;
else if (newGPSHeading >= glm::twoPI) newGPSHeading -= glm::twoPI;
}
else
{
vehicle.setIsReverse(false);
}
//set the headings
vehicle.fixHeading = gpsHeading = newGPSHeading;
}
//save current fix and set as valid
for (int i = totalFixSteps - 1; i > 0; i--) stepFixPts[i] = stepFixPts[i - 1];
stepFixPts[0].easting = pn.fix.easting;
stepFixPts[0].northing = pn.fix.northing;
stepFixPts[0].isSet = 1;
//#endregion
//#region Camera
camDelta = vehicle.fixHeading - smoothCamHeading;
if (camDelta < 0) camDelta += glm::twoPI;
else if (camDelta > glm::twoPI) camDelta -= glm::twoPI;
//calculate delta based on circular data problem 0 to 360 to 0, clamp to +- 2 Pi
if (camDelta >= -glm::PIBy2 && camDelta <= glm::PIBy2) camDelta *= -1.0;
else
{
if (camDelta > glm::PIBy2) { camDelta = glm::twoPI - camDelta; }
else { camDelta = (glm::twoPI + camDelta) * -1.0; }
}
if (camDelta > glm::twoPI) camDelta -= glm::twoPI;
else if (camDelta < -glm::twoPI) camDelta += glm::twoPI;
smoothCamHeading -= camDelta * camera.camSmoothFactor;
if (smoothCamHeading > glm::twoPI) smoothCamHeading -= glm::twoPI;
else if (smoothCamHeading < -glm::twoPI) smoothCamHeading += glm::twoPI;
camera.camHeading = glm::toDegrees(smoothCamHeading);
//#endregion
//Calculate a million other things
byPass:
if (ahrs.imuHeading != 99999)
{
imuCorrected = (glm::toRadians(ahrs.imuHeading)) + imuGPS_Offset;
if (imuCorrected > glm::twoPI) imuCorrected -= glm::twoPI;
else if (imuCorrected < 0) imuCorrected += glm::twoPI;
//use imu as heading when going slow
vehicle.fixHeading = imuCorrected;
}
camDelta = vehicle.fixHeading - smoothCamHeading;
if (camDelta < 0) camDelta += glm::twoPI;
else if (camDelta > glm::twoPI) camDelta -= glm::twoPI;
//calculate delta based on circular data problem 0 to 360 to 0, clamp to +- 2 Pi
if (camDelta >= -glm::PIBy2 && camDelta <= glm::PIBy2) camDelta *= -1.0;
else
{
if (camDelta > glm::PIBy2) { camDelta = glm::twoPI - camDelta; }
else { camDelta = (glm::twoPI + camDelta) * -1.0; }
}
if (camDelta > glm::twoPI) camDelta -= glm::twoPI;
else if (camDelta < -glm::twoPI) camDelta += glm::twoPI;
smoothCamHeading -= camDelta * camera.camSmoothFactor;
if (smoothCamHeading > glm::twoPI) smoothCamHeading -= glm::twoPI;
else if (smoothCamHeading < -glm::twoPI) smoothCamHeading += glm::twoPI;
camera.camHeading = glm::toDegrees(smoothCamHeading);
TheRest();
} else if (headingFromSource == "VTG")
{
isFirstHeadingSet = true;
if (vehicle.avgSpeed > 1)
{
//use NMEA headings for camera and tractor graphic
vehicle.fixHeading = glm::toRadians(pn.headingTrue);
camera.camHeading = pn.headingTrue;
gpsHeading = vehicle.fixHeading;
}
//grab the most current fix to last fix distance
distanceCurrentStepFix = glm::Distance(pn.fix, prevFix);
//#region Antenna Offset
if (vehicle.antennaOffset != 0)
{
pn.fix.easting = (cos(-vehicle.fixHeading) * vehicle.antennaOffset) + pn.fix.easting;
pn.fix.northing = (sin(-vehicle.fixHeading) * vehicle.antennaOffset) + pn.fix.northing;
}
//#endregion
uncorrectedEastingGraph = pn.fix.easting;
//an IMU with heading correction, add the correction
if (ahrs.imuHeading != 99999)
{
//current gyro angle in radians
double correctionHeading = (glm::toRadians(ahrs.imuHeading));
//Difference between the IMU heading and the GPS heading
double gyroDelta = (correctionHeading + imuGPS_Offset) - gpsHeading;
if (gyroDelta < 0) gyroDelta += glm::twoPI;
//calculate delta based on circular data problem 0 to 360 to 0, clamp to +- 2 Pi
if (gyroDelta >= -glm::PIBy2 && gyroDelta <= glm::PIBy2) gyroDelta *= -1.0;
else
{
if (gyroDelta > glm::PIBy2) { gyroDelta = glm::twoPI - gyroDelta; }
else { gyroDelta = (glm::twoPI + gyroDelta) * -1.0; }
}
if (gyroDelta > glm::twoPI) gyroDelta -= glm::twoPI;
if (gyroDelta < -glm::twoPI) gyroDelta += glm::twoPI;
//if the gyro and last corrected fix is < 10 degrees, super low pass for gps
if (fabs(gyroDelta) < 0.18)
{
//a bit of delta and add to correction to current gyro
imuGPS_Offset += (gyroDelta * (0.1));
if (imuGPS_Offset > glm::twoPI) imuGPS_Offset -= glm::twoPI;
if (imuGPS_Offset < -glm::twoPI) imuGPS_Offset += glm::twoPI;
}
else
{
//a bit of delta and add to correction to current gyro
imuGPS_Offset += (gyroDelta * (0.2));
if (imuGPS_Offset > glm::twoPI) imuGPS_Offset -= glm::twoPI;
if (imuGPS_Offset < -glm::twoPI) imuGPS_Offset += glm::twoPI;
}
//determine the Corrected heading based on gyro and GPS
imuCorrected = correctionHeading + imuGPS_Offset;
if (imuCorrected > glm::twoPI) imuCorrected -= glm::twoPI;
if (imuCorrected < 0) imuCorrected += glm::twoPI;
vehicle.fixHeading = imuCorrected;
camera.camHeading = vehicle.fixHeading;
if (camera.camHeading > glm::twoPI) camera.camHeading -= glm::twoPI;
camera.camHeading = glm::toDegrees(camera.camHeading);
}
//#region Roll
if (ahrs.imuRoll != 88888)
{
//change for roll to the right is positive times -1
rollCorrectionDistance = sin(glm::toRadians((ahrs.imuRoll))) * -vehicle.antennaHeight;
correctionDistanceGraph = rollCorrectionDistance;
// roll to left is positive **** important!!
// not any more - April 30, 2019 - roll to right is positive Now! Still Important
pn.fix.easting = (cos(-vehicle.fixHeading) * rollCorrectionDistance) + pn.fix.easting;
pn.fix.northing = (sin(-vehicle.fixHeading) * rollCorrectionDistance) + pn.fix.northing;
}
//#endregion Roll
TheRest();
//most recent fixes are now the prev ones
prevFix.easting = pn.fix.easting; prevFix.northing = pn.fix.northing;
} else if (headingFromSource == "Dual")
{
isFirstHeadingSet = true;
//use Dual Antenna heading for camera and tractor graphic
vehicle.fixHeading = glm::toRadians(pn.headingTrueDual);
gpsHeading = vehicle.fixHeading;
uncorrectedEastingGraph = pn.fix.easting;
if (vehicle.antennaOffset != 0)
{
pn.fix.easting = (cos(-vehicle.fixHeading) * vehicle.antennaOffset) + pn.fix.easting;
pn.fix.northing = (sin(-vehicle.fixHeading) * vehicle.antennaOffset) + pn.fix.northing;
}
if (ahrs.imuRoll != 88888 && vehicle.antennaHeight != 0)
{
//change for roll to the right is positive times -1
rollCorrectionDistance = sin(glm::toRadians((ahrs.imuRoll))) * -vehicle.antennaHeight;
correctionDistanceGraph = rollCorrectionDistance;
pn.fix.easting = (cos(-gpsHeading) * rollCorrectionDistance) + pn.fix.easting;
pn.fix.northing = (sin(-gpsHeading) * rollCorrectionDistance) + pn.fix.northing;
}
//grab the most current fix and save the distance from the last fix
distanceCurrentStepFix = glm::Distance(pn.fix, prevDistFix);
//userDistance can be reset
if ((double)(fd.distanceUser += distanceCurrentStepFix) > 999) fd.distanceUser = 0;
distanceCurrentStepFixDisplay = distanceCurrentStepFix * 100;
prevDistFix = pn.fix;
if (glm::DistanceSquared(lastReverseFix, pn.fix) > 0.20)
{
//most recent heading
double newHeading = atan2(pn.fix.easting - lastReverseFix.easting,
pn.fix.northing - lastReverseFix.northing);
if (newHeading < 0) newHeading += glm::twoPI;
//what is angle between the last reverse heading and current dual heading
double delta = fabs(M_PI - fabs(fabs(newHeading - vehicle.fixHeading) - M_PI));
//are we going backwards
vehicle.isReverse = delta > 2 ? true : false;
//save for next meter check
lastReverseFix = pn.fix;
}
double camDelta = vehicle.fixHeading - smoothCamHeading;
if (camDelta < 0) camDelta += glm::twoPI;
else if (camDelta > glm::twoPI) camDelta -= glm::twoPI;
//calculate delta based on circular data problem 0 to 360 to 0, clamp to +- 2 Pi
if (camDelta >= -glm::PIBy2 && camDelta <= glm::PIBy2) camDelta *= -1.0;
else
{
if (camDelta > glm::PIBy2) { camDelta = glm::twoPI - camDelta; }
else { camDelta = (glm::twoPI + camDelta) * -1.0; }
}
if (camDelta > glm::twoPI) camDelta -= glm::twoPI;
else if (camDelta < -glm::twoPI) camDelta += glm::twoPI;
smoothCamHeading -= camDelta * camera.camSmoothFactor;
if (smoothCamHeading > glm::twoPI) smoothCamHeading -= glm::twoPI;
else if (smoothCamHeading < -glm::twoPI) smoothCamHeading += glm::twoPI;
camera.camHeading = glm::toDegrees(smoothCamHeading);
TheRest();
}
//else {
//}
if (vehicle.fixHeading >= glm::twoPI)
vehicle.fixHeading-= glm::twoPI;
//#endregion
//#region Corrected Position for GPS_OUT
//NOTE: Michael, I'm not sure about this entire region
double rollCorrectedLat;
double rollCorrectedLon;
pn.ConvertLocalToWGS84(pn.fix.northing, pn.fix.easting, rollCorrectedLat, rollCorrectedLon);
QByteArray pgnRollCorrectedLatLon(22, 0);
pgnRollCorrectedLatLon[0] = 0x80;
pgnRollCorrectedLatLon[1] = 0x81;
pgnRollCorrectedLatLon[2] = 0x7F;
pgnRollCorrectedLatLon[3] = 0x64;
pgnRollCorrectedLatLon[4] = 16;
std::memcpy(pgnRollCorrectedLatLon.data() + 5, &rollCorrectedLon, 8);
std::memcpy(pgnRollCorrectedLatLon.data() + 13, &rollCorrectedLat, 8);
SendPgnToLoop(pgnRollCorrectedLatLon);
//#endregion
//#region AutoSteer
//preset the values
vehicle.guidanceLineDistanceOff = 32000;
if (ct.isContourBtnOn)
{
ct.DistanceFromContourLine(isAutoSteerBtnOn, vehicle, yt, ahrs, pn, vehicle.pivotAxlePos, vehicle.steerAxlePos);
}
else
{
//auto track routine
//NOTE: Michael. CS has "isBtnAutoSteerOn", but I get an error when I do that.
if (trk.isAutoTrack && !isAutoSteerBtnOn && trk.autoTrack3SecTimer > 1)
{
trk.autoTrack3SecTimer = 0;
int lastIndex = trk.idx;
//NOTE: Michael. Is this right?
trk.idx = trk.FindClosestRefTrack(vehicle.steerAxlePos, vehicle);
if ( lastIndex != trk.idx )
{
curve.isCurveValid = false;
ABLine.isABValid = false;
}
}
//NOTE: hmmm. Not sure about this all
//like normal
if (trk.gArr.count() > 0 && trk.idx > -1)
{
if (trk.gArr[trk.idx].mode == TrackMode::AB)
{
ABLine.BuildCurrentABLineList(vehicle.pivotAxlePos,secondsSinceStart,trk,yt,vehicle);
ABLine.GetCurrentABLine(vehicle.pivotAxlePos, vehicle.steerAxlePos,isAutoSteerBtnOn,vehicle,yt,ahrs,gyd,pn,makeUTurnCounter);
}
else
{
//build new current ref line if required
curve.BuildCurveCurrentList(vehicle.pivotAxlePos,secondsSinceStart,vehicle,trk,bnd,yt);
curve.GetCurrentCurveLine(vehicle.pivotAxlePos, vehicle.steerAxlePos,isAutoSteerBtnOn,vehicle,trk,yt,ahrs,gyd,pn,makeUTurnCounter);
}
}
}
// autosteer at full speed of updates
//if the whole path driving driving process is green
if (recPath.isDrivingRecordedPath) recPath.UpdatePosition(vehicle, yt, isAutoSteerBtnOn);
// If Drive button off - normal autosteer
if (!vehicle.isInFreeDriveMode)
{
//fill up0 the appropriate arrays with new values
p_254.pgn[p_254.speedHi] = (char)((int)(fabs(vehicle.avgSpeed) * 10.0) >> 8);
p_254.pgn[p_254.speedLo] = (char)((int)(fabs(vehicle.avgSpeed) * 10.0));
//mc.machineControlData[mc.cnSpeed] = mc.autoSteerData[mc.sdSpeed];
//save distance for display
lightbarDistance = vehicle.guidanceLineDistanceOff;
if (!isAutoSteerBtnOn) //32020 means auto steer is off
{
//NOTE: Is this supposed to be commented out?
//vehicle.guidanceLineDistanceOff = 32020;
p_254.pgn[p_254.status] = 0;
}
else p_254.pgn[p_254.status] = 1;
if (recPath.isDrivingRecordedPath || recPath.isFollowingDubinsToPath) p_254.pgn[p_254.status] = 1;
//mc.autoSteerData[7] = unchecked((byte)(vehicle.guidanceLineDistanceOff >> 8));
//mc.autoSteerData[8] = unchecked((byte)(vehicle.guidanceLineDistanceOff));
//convert to cm from mm and divide by 2 - lightbar
int distanceX2;
//if (vehicle.guidanceLineDistanceOff == 32020 || vehicle.guidanceLineDistanceOff == 32000)
if (!isAutoSteerBtnOn || vehicle.guidanceLineDistanceOff == 32000)
distanceX2 = 255;
else
{
distanceX2 = (int)(vehicle.guidanceLineDistanceOff * 0.05);
if (distanceX2 < -127) distanceX2 = -127;
else if (distanceX2 > 127) distanceX2 = 127;
distanceX2 += 127;
}
p_254.pgn[p_254.lineDistance] = (char)distanceX2;
if (!timerSim.isActive())
{
if (isAutoSteerBtnOn && vehicle.avgSpeed > vehicle.maxSteerSpeed)
{
onStopAutoSteer();
if (isMetric)
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Above Maximum Safe Steering Speed: ") + locale.toString(vehicle.maxSteerSpeed, 'g', 1) + tr(" Kmh"));
else
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Above Maximum Safe Steering Speed: ") + locale.toString(vehicle.maxSteerSpeed * 0.621371, 'g', 1) + tr(" MPH"));
}
if (isAutoSteerBtnOn && vehicle.avgSpeed < vehicle.minSteerSpeed)
{
minSteerSpeedTimer++;
if (minSteerSpeedTimer > 80)
{
onStopAutoSteer();
if (isMetric)
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Below Minimum Safe Steering Speed: ") + locale.toString(vehicle.minSteerSpeed, 'g', 1) + tr(" Kmh"));
else
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Below Minimum Safe Steering Speed: ") + locale.toString(vehicle.minSteerSpeed * 0.621371, 'g', 1) + tr(" MPH"));
}
}
else
{
minSteerSpeedTimer = 0;
}
}
double tanSteerAngle = tan(glm::toRadians(((double)(vehicle.guidanceLineSteerAngle)) * 0.01));
double tanActSteerAngle = tan(glm::toRadians(mc.actualSteerAngleDegrees));
setAngVel = 0.277777 * vehicle.avgSpeed * tanSteerAngle / vehicle.wheelbase;
actAngVel = glm::toDegrees(0.277777 * vehicle.avgSpeed * tanActSteerAngle / vehicle.wheelbase);
isMaxAngularVelocity = false;
//greater then settings rads/sec limit steer angle
if (fabs(setAngVel) > vehicle.maxAngularVelocity)
{
setAngVel = vehicle.maxAngularVelocity;
tanSteerAngle = 3.6 * setAngVel * vehicle.wheelbase / vehicle.avgSpeed;
if (vehicle.guidanceLineSteerAngle < 0)
vehicle.guidanceLineSteerAngle = (short)(glm::toDegrees(atan(tanSteerAngle)) * -100);
else
vehicle.guidanceLineSteerAngle = (short)(glm::toDegrees(atan(tanSteerAngle)) * 100);
isMaxAngularVelocity = true;
}
setAngVel = glm::toDegrees(setAngVel);
p_254.pgn[p_254.steerAngleHi] = (char)(vehicle.guidanceLineSteerAngle >> 8);
p_254.pgn[p_254.steerAngleLo] = (char)(vehicle.guidanceLineSteerAngle);
if (vehicle.isChangingDirection && ahrs.imuHeading == 99999)
p_254.pgn[p_254.status] = 0;
//for now if backing up, turn off autosteer
if (!isSteerInReverse)
{
if (vehicle.isReverse) p_254.pgn[p_254.status] = 0;
}
}
else //Drive button is on
{
//fill up the auto steer array with free drive values
p_254.pgn[p_254.speedHi] = (char)((int)(80) >> 8);
p_254.pgn[p_254.speedLo] = (char)((int)(80));
//turn on status to operate
p_254.pgn[p_254.status] = 1;
//send the steer angle
vehicle.guidanceLineSteerAngle = (qint16)(vehicle.driveFreeSteerAngle * 100);
p_254.pgn[p_254.steerAngleHi] = (char)(vehicle.guidanceLineSteerAngle >> 8);
p_254.pgn[p_254.steerAngleLo] = (char)(vehicle.guidanceLineSteerAngle);
}
//out serial to autosteer module //indivdual classes load the distance and heading deltas
SendPgnToLoop(p_254.pgn);
//for average cross track error
if (vehicle.guidanceLineDistanceOff < 29000)
{
crossTrackError = (int)((double)crossTrackError * 0.90 + fabs((double)vehicle.guidanceLineDistanceOff) * 0.1);
}
else
{
crossTrackError = 0;
}
//#endregion
//#region AutoSteer
//preset the values
/*
* NOTE: Can this all be removed? It's not present in CS
vehicle.guidanceLineDistanceOff = 32000;
if (ct.isContourBtnOn)
{
ct.DistanceFromContourLine(isAutoSteerBtnOn, vehicle, yt, ahrs, pn, vehicle.pivotAxlePos, vehicle.steerAxlePos);
}
else
{
if (curve.isCurveSet && curve.isBtnCurveOn)
{
//do the calcs for AB Curve
curve.GetCurrentCurveLine(vehicle.pivotAxlePos, vehicle.steerAxlePos, secondsSinceStart, isAutoSteerBtnOn, mc.steerSwitchHigh, vehicle, bnd, yt, ahrs, gyd, pn);
}
if (ABLine.isABLineSet && ABLine.isBtnABLineOn)
{
ABLine.GetCurrentABLine(vehicle.pivotAxlePos, vehicle.steerAxlePos, secondsSinceStart, isAutoSteerBtnOn, mc.steerSwitchHigh, vehicle, yt, ahrs, gyd, pn);
}
}
// autosteer at full speed of updates
//if the whole path driving driving process is green
if (recPath.isDrivingRecordedPath) recPath.UpdatePosition(vehicle, yt, isAutoSteerBtnOn);
// If Drive button off - normal autosteer
if (!vehicle.isInFreeDriveMode)
{
//fill up0 the appropriate arrays with new values
p_254.pgn[p_254.speedHi] = (char)((int)(fabs(vehicle.avgSpeed) * 10.0) >> 8);
p_254.pgn[p_254.speedLo] = (char)((int)(fabs(vehicle.avgSpeed) * 10.0));
//mc.machineControlData[mc.cnSpeed] = mc.autoSteerData[mc.sdSpeed];
//save distance for display
lightbarDistance = vehicle.guidanceLineDistanceOff;
if (!isAutoSteerBtnOn) //32020 means auto steer is off
{
//vehicle.guidanceLineDistanceOff = 32020;
p_254.pgn[p_254.status] = 0;
}
else p_254.pgn[p_254.status] = 1;
if (recPath.isDrivingRecordedPath || recPath.isFollowingDubinsToPath) p_254.pgn[p_254.status] = 1;
//mc.autoSteerData[7] = unchecked((byte)(vehicle.guidanceLineDistanceOff >> 8));
//mc.autoSteerData[8] = unchecked((byte)(vehicle.guidanceLineDistanceOff));
//convert to cm from mm and divide by 2 - lightbar
int distanceX2;
//if (vehicle.guidanceLineDistanceOff == 32020 || vehicle.guidanceLineDistanceOff == 32000)
if (!isAutoSteerBtnOn || vehicle.guidanceLineDistanceOff == 32000)
distanceX2 = 255;
else
{
distanceX2 = (int)(vehicle.guidanceLineDistanceOff * 0.05);
if (distanceX2 < -127) distanceX2 = -127;
else if (distanceX2 > 127) distanceX2 = 127;
distanceX2 += 127;
}
p_254.pgn[p_254.lineDistance] = (char)distanceX2;
if (!timerSim.isActive())
{
if (isAutoSteerBtnOn && vehicle.avgSpeed > vehicle.maxSteerSpeed)
{
onStopAutoSteer();
if (isMetric)
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Above Maximum Safe Steering Speed: ") + locale.toString(vehicle.maxSteerSpeed, 'g', 1) + tr(" Kmh"));
else
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Above Maximum Safe Steering Speed: ") + locale.toString(vehicle.maxSteerSpeed * 0.621371, 'g', 1) + tr(" MPH"));
}
if (isAutoSteerBtnOn && vehicle.avgSpeed < vehicle.minSteerSpeed)
{
minSteerSpeedTimer++;
if (minSteerSpeedTimer > 80)
{
onStopAutoSteer();
if (isMetric)
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Below Minimum Safe Steering Speed: ") + locale.toString(vehicle.maxSteerSpeed, 'g', 1) + tr(" Kmh"));
else
TimedMessageBox(3000, tr("AutoSteer Disabled"), tr("Below Minimum Safe Steering Speed: ") + locale.toString(vehicle.maxSteerSpeed * 0.621371, 'g', 1) + tr(" MPH"));
}
}