fixed home clone path

include/ConfigManager.h

@@ -80,22 +80,13 @@ class ConfigManager {
     static std::string getActiveAirframeName();
     static void setActiveAirframeName(const std::string& airframeName);
     static std::string getAirframeByIndex(int index);
-    // Structure to hold the configuration settings
-    struct Config {
-        bool filter_accel_enabled = false;  // Enable/disable accelerometer filtering
-        float accel_filter_alpha = 0.1f;    // Alpha value for low-pass filter
-        // Add any other configuration fields as needed
-    };
-
-    // Static method to access the global configuration
-    static Config& getConfig() {
-        static Config config;
-        return config;
-    }
 
-    // Static method to load configuration (from a file, UI, etc.)
-    static void loadConfig();  // Implement this method if needed
 
+    static bool filter_velocity_enabled;  // Flag for enabling/disabling velocity filtering
+    static float velocity_filter_alpha;   // Alpha value for velocity filtering
+
+    static bool filter_accel_enabled;  // Flag for enabling/disabling accelerometer filtering
+    static float accel_filter_alpha;   // Alpha value for accelerometer filtering
 
 
 private:

include/DataRefManager.h

@@ -65,7 +65,7 @@ class DataRefManager {
     static float calculateDistance(const GeodeticPosition& pos1, const GeodeticPosition& pos2);
     static Eigen::Vector3f convertNEDToBody(const Eigen::Vector3f& nedVector, float roll, float pitch, float yaw);
     static void initializeMagneticField();
-    static float applyFilteringIfNeeded(float raw_value, float& prev_filtered_value);
+    static float applyFilteringIfNeeded(float raw_value, float& prev_filtered_value, bool filter_enabled, float filter_alpha);
 
     static std::string GetFormattedDroneConfig();
     static float scaleActuatorCommand(float input, float inputMin, float inputMax, float outputMin, float outputMax);
@@ -80,6 +80,11 @@ class DataRefManager {
     static float prev_yacc;
     static float prev_zacc;
 
+    // Static variables to hold previous filtered velocities
+    static float prev_vn;
+    static float prev_ve;
+    static float prev_vd;
+
     static constexpr float UPDATE_THRESHOLD=1000;  // Define a threshold for position change in meters
     static std::bitset<8> motorBrakeStates; // Tracks the current brake states
     static void checkAndApplyPropBrakes();

setup/setup_px4_sitl.sh

@@ -79,7 +79,7 @@
 REPO_URL="https://github.com/alireza787b/PX4-Autopilot-Me.git"
 BRANCH_NAME="px4xplane-sitl"
 UPSTREAM_URL="https://github.com/PX4/PX4-Autopilot.git"
-DEFAULT_CLONE_PATH="$HOME/testpx4"
+DEFAULT_CLONE_PATH="$HOME"
 DEFAULT_CONFIG_FILE="$HOME/.px4sitl_config"
 DEFAULT_FALLBACK_IP="127.0.0.1"
 SCRIPT_NAME="px4xplane_script.sh"

src/ConfigManager.cpp

@@ -18,6 +18,12 @@ std::map<int, int> ConfigManager::motorMappingsXPlanetoPX4;
 // Name of the configuration, typically used for display purposes.
 std::string ConfigManager::configName;
 
+bool ConfigManager::filter_velocity_enabled = true;
+float ConfigManager::velocity_filter_alpha = 0.25f;
+
+bool ConfigManager::filter_accel_enabled = true;
+float ConfigManager::accel_filter_alpha = 0.15f;
+
 
 // Stores configurations for actuators, indexed by their channel number.
 std::map<int, ActuatorConfig> ConfigManager::actuatorConfigs;
@@ -79,6 +85,9 @@ void ConfigManager::loadConfiguration() {
 }
 
 
+
+
+
 /**
  * Resolves and returns the full file path of the 'config.ini' file.
  * This function is used to determine the location of the configuration file

src/DataRefManager.cpp

@@ -85,6 +85,11 @@ float DataRefManager::prev_xacc = 0.0f;
 float DataRefManager::prev_yacc = 0.0f;
 float DataRefManager::prev_zacc = -9.81f;
 
+// Initialize static variables for previous filtered velocities
+float DataRefManager::prev_vn = 0.0f;
+float DataRefManager::prev_ve = 0.0f;
+float DataRefManager::prev_vd = 0.0f;
+
 
 /**
  * @brief Tracks the current brake state of each motor.
@@ -654,20 +659,21 @@ void DataRefManager::applyBrake(int motorIndex, bool enable) {
 
 
 /**
- * @brief Applies low-pass filtering to the accelerometer data if filtering is enabled.
+ * @brief Applies low-pass filtering to data if filtering is enabled.
  *
- * This function checks the configuration to see if filtering is enabled. If it is,
- * it applies the low-pass filter to the accelerometer data and updates the previous
- * filtered values. If filtering is disabled, it simply returns the raw data.
+ * This generalized function checks if filtering is enabled for a specific data type. If it is,
+ * it applies a low-pass filter to the data and updates the previous filtered value.
+ * If filtering is disabled, it simply returns the raw data.
  *
- * @param raw_value The raw accelerometer value.
+ * @param raw_value The raw sensor value (e.g., accelerometer, velocity).
  * @param prev_filtered_value The previous filtered value.
- * @return The filtered or raw accelerometer value.
+ * @param filter_enabled Flag indicating whether filtering is enabled.
+ * @param filter_alpha The alpha value for the low-pass filter.
+ * @return The filtered or raw value, depending on the filtering settings.
  */
-float DataRefManager::applyFilteringIfNeeded(float raw_value, float& prev_filtered_value) {
-	if (ConfigManager::getConfig().filter_accel_enabled) {
-		float alpha = ConfigManager::getConfig().accel_filter_alpha;
-		float filtered_value = lowPassFilter(raw_value, prev_filtered_value, alpha);
+float DataRefManager::applyFilteringIfNeeded(float raw_value, float& prev_filtered_value, bool filter_enabled, float filter_alpha) {
+	if (filter_enabled) {
+		float filtered_value = lowPassFilter(raw_value, prev_filtered_value, filter_alpha);
 		prev_filtered_value = filtered_value;
 		return filtered_value;
 	}
@@ -677,6 +683,7 @@ float DataRefManager::applyFilteringIfNeeded(float raw_value, float& prev_filter
 	}
 }
 
+
 /**
  * @brief Checks the throttle for each motor and applies or releases the brake as necessary.
  *

src/MAVLinkManager.cpp

@@ -415,8 +415,9 @@ void MAVLinkManager::processHILActuatorControlsMessage(const mavlink_message_t&
  * @brief Sets the acceleration data in the HIL_SENSOR message.
  *
  * This function retrieves the aircraft's current acceleration forces from the simulation,
- * applies optional low-pass filtering, multiplies them by the gravitational constant,
- * and sets them in the provided HIL_SENSOR message.
+ * applies optional low-pass filtering if enabled, multiplies them by the gravitational constant,
+ * and sets the processed data in the provided HIL_SENSOR message.
+ * The filtering parameters (enabled flag and alpha value) are configurable.
  *
  * @param hil_sensor Reference to the HIL_SENSOR message where the acceleration data will be set.
  */
@@ -427,11 +428,12 @@ void MAVLinkManager::setAccelerationData(mavlink_hil_sensor_t& hil_sensor) {
     float raw_zacc = DataRefManager::getFloat("sim/flightmodel/forces/g_nrml") * DataRefManager::g_earth * -1;
 
     // Apply filtering if enabled, otherwise use raw data
-    hil_sensor.xacc = DataRefManager::applyFilteringIfNeeded(raw_xacc, DataRefManager::prev_xacc);
-    hil_sensor.yacc = DataRefManager::applyFilteringIfNeeded(raw_yacc, DataRefManager::prev_yacc);
-    hil_sensor.zacc = DataRefManager::applyFilteringIfNeeded(raw_zacc, DataRefManager::prev_zacc);
+    hil_sensor.xacc = DataRefManager::applyFilteringIfNeeded(raw_xacc, DataRefManager::prev_xacc, ConfigManager::filter_accel_enabled, ConfigManager::accel_filter_alpha);
+    hil_sensor.yacc = DataRefManager::applyFilteringIfNeeded(raw_yacc, DataRefManager::prev_yacc, ConfigManager::filter_accel_enabled, ConfigManager::accel_filter_alpha);
+    hil_sensor.zacc = DataRefManager::applyFilteringIfNeeded(raw_zacc, DataRefManager::prev_zacc, ConfigManager::filter_accel_enabled, ConfigManager::accel_filter_alpha);
 }
 
+
 /**
  * @brief Sets the gyroscope data in the HIL_SENSOR message.
  *
@@ -614,18 +616,13 @@ void MAVLinkManager::setGPSVelocityDataByPath(mavlink_hil_gps_t& hil_gps) {
     hil_gps.vel = static_cast<uint16_t>(sqrt(Vn * Vn + Ve * Ve + Vd * Vd) * 100.0f);
 }
 
-
 /**
  * @brief Sets the velocity data for the HIL_GPS message using the NED coordinate system.
  *
- * This function temporarily uses the TCAS system velocities (sim/cockpit2/tcas/targets/position/vx, vy, vz)
- * from X-Plane for calculating the aircraft's velocity in the NED coordinate system. The TCAS velocities
- * are in the OGL coordinate system and are transformed to NED. This approach is a temporary workaround
- * to address issues with other velocity datarefs and will be replaced by a more accurate solution in the future.
- *
- * Note: TCAS velocities are used here for their availability and ease of access, but they might not
- * provide the most accurate representation of the aircraft's true velocity, especially in complex flight
- * scenarios or with certain aircraft models.
+ * This function retrieves the TCAS system velocities (sim/cockpit2/tcas/targets/position/vx, vy, vz)
+ * from X-Plane, transforms them from the OGL coordinate system to the NED coordinate system, and applies
+ * optional low-pass filtering to the velocities if filtering is enabled in the configuration.
+ * The velocities are then populated into the HIL_GPS MAVLink message in cm/s.
  *
  * @param hil_gps Reference to the mavlink_hil_gps_t structure to populate.
  */
@@ -645,6 +642,11 @@ void MAVLinkManager::setGPSVelocityData(mavlink_hil_gps_t& hil_gps) {
     float Ve = vx;   // East remains the same
     float Vd = -vy;  // Down is negative Up
 
+    // Apply filtering if enabled, otherwise use raw data
+    Vn = DataRefManager::applyFilteringIfNeeded(Vn, DataRefManager::prev_vn, ConfigManager::filter_velocity_enabled, ConfigManager::velocity_filter_alpha);
+    Ve = DataRefManager::applyFilteringIfNeeded(Ve, DataRefManager::prev_ve, ConfigManager::filter_velocity_enabled, ConfigManager::velocity_filter_alpha);
+    Vd = DataRefManager::applyFilteringIfNeeded(Vd, DataRefManager::prev_vd, ConfigManager::filter_velocity_enabled, ConfigManager::velocity_filter_alpha);
+
     // Populate the MAVLink message with NED velocities (converted to cm/s)
     hil_gps.vn = static_cast<int16_t>(Vn * 100.0f);
     hil_gps.ve = static_cast<int16_t>(Ve * 100.0f);
@@ -658,6 +660,8 @@ void MAVLinkManager::setGPSVelocityData(mavlink_hil_gps_t& hil_gps) {
 
 
 
+
+
 /**
  * @brief Sets the heading data for the HIL_GPS message.
  *