FGFS-4.1/gr-air-modes
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Backport Flightgear server from private tx branch, collapse commits.

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* Added Flightgear multiplayer output interface to uhd_modes.py. This allows flight with live traffic in fgfs.
* Quaternion library borrowed from PyPi and modified to generate angle/axis representation and construct rotation quat from lat/lon to ECEF.
* Miscellaneous enhancements and cleanup to fix timestamps, add aircraft type field (seems to be unused anyway), turnrate info
This commit is contained in:
Nick Foster
2012-06-13 07:49:22 -07:00
parent c16886c4c1
commit 17f7cb9a53
13 changed files with 567 additions and 133 deletions
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apps/uhd_modes.py
+21 -8
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@@ -19,8 +19,9 @@
# Boston, MA 02110-1301, USA.
#
my_position = [37.76225, -122.44254]
#my_position = [37.76225, -122.44254]
#my_position = [37.409066,-122.077836]
my_position = [30.2, -97.6]
#my_position = None
from gnuradio import gr, gru, optfir, eng_notation, blks2
@@ -53,7 +54,7 @@ class adsb_rx_block (gr.top_block):
self.args = args
rate = int(options.rate)
if options.filename is None:
if options.filename is None and options.udp is None:
self.u = uhd.single_usrp_source("", uhd.io_type_t.COMPLEX_FLOAT32, 1)
time_spec = uhd.time_spec(0.0)
self.u.set_time_now(time_spec)
@@ -79,7 +80,10 @@ class adsb_rx_block (gr.top_block):
print "Gain is %i" % (self.u.get_gain(),)
else:
self.u = gr.file_source(gr.sizeof_gr_complex, options.filename)
if options.filename is not None:
self.u = gr.file_source(gr.sizeof_gr_complex, options.filename)
else:
self.u = gr.udp_source(gr.sizeof_gr_complex, "localhost", options.udp)
print "Rate is %i" % (rate,)
@@ -92,14 +96,14 @@ class adsb_rx_block (gr.top_block):
#the DBSRX especially tends to be spur-prone; the LPF keeps out the
#spur multiple that shows up at 2MHz
self.lpfiltcoeffs = gr.firdes.low_pass(1, rate, 1.8e6, 100e3)
self.lpfilter = gr.fir_filter_ccf(1, self.lpfiltcoeffs)
#self.lpfiltcoeffs = gr.firdes.low_pass(1, rate, 1.8e6, 100e3)
#self.lpfilter = gr.fir_filter_ccf(1, self.lpfiltcoeffs)
self.preamble = air_modes.modes_preamble(rate, options.threshold)
#self.framer = air_modes.modes_framer(rate)
self.slicer = air_modes.modes_slicer(rate, queue)
self.connect(self.u, self.lpfilter, self.demod)
self.connect(self.u, self.demod)
self.connect(self.demod, self.avg)
self.connect(self.demod, (self.preamble, 0))
self.connect(self.avg, (self.preamble, 1))
@@ -141,6 +145,10 @@ if __name__ == '__main__':
help="disable printing decoded packets to stdout")
parser.add_option("-l","--location", type="string", default=None,
help="GPS coordinates of receiving station in format xx.xxxxx,xx.xxxxx")
parser.add_option("-u","--udp", type="int", default=None,
help="Use UDP source on specified port")
parser.add_option("-m","--multiplayer", type="string", default=None,
help="FlightGear server to send aircraft data, in format host:port")
(options, args) = parser.parse_args()
if options.location is not None:
@@ -171,6 +179,11 @@ if __name__ == '__main__':
outputs.append(printraw)
updates.append(rawport.add_pending_conns)
if options.multiplayer is not None:
[fghost, fgport] = options.multiplayer.split(':')
fgout = air_modes.modes_flightgear(my_position, fghost, int(fgport))
outputs.append(fgout.output)
fg = adsb_rx_block(options, args, queue)
runner = top_block_runner(fg)
@@ -183,8 +196,8 @@ if __name__ == '__main__':
update()
#main message handler
if queue.empty_p() == 0 :
while queue.empty_p() == 0 :
if not queue.empty_p() :
while not queue.empty_p() :
msg = queue.delete_head() #blocking read
for out in outputs: