Switch Ign-math to Eigen3 (#5)

* Add simple build test with github actions

This Adds a simple build test for github actions.

* Renaming the Rascal submodule directory.

* Fix some model path.
Draft of multi-vehicle simulation init scripts.

* Disable joystick and mouse control input.

* Switch to LKSO airport.

* Update README.md

* Add note about availability of multi make target.

* Fix level of details handling for multi-vehicle simulation.

* Add TF-G2 model

* add submodule TF-G2

* Add TF-G2 autogyro model

* Update README.md

* Update submodule

* Fix typos.

* Workaround of issue ThunderFly-aerospace#15

* Update README.md

* Switch from IgnMath to Eigen3 math library.

* Remove libignition-math4-dev from readme.

Co-authored-by: JaeyoungLim <gokoreas@gmail.com>
Co-authored-by: Jakub Kákona <kaklik@mlab.cz>
Co-authored-by: Roman Dvorak <romandvorak@mlab.cz>

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "models/FlightGear-TF-R1"]
 	path = models/TF-R1
 	url = https://github.com/ThunderFly-aerospace/FlightGear-TF-R1.git
+[submodule "models/FlightGear-TF-G2"]
+	path = models/TF-G2
+	url = https://github.com/ThunderFly-aerospace/FlightGear-TF-G2.git

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required (VERSION 2.8.11)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
-find_package(ignition-math4 REQUIRED)
+find_package(Eigen3 REQUIRED)
 find_package(MAVLink)
 
 message(STATUS "${MAVLINK_INCLUDE_DIRS}")
@@ -20,6 +20,5 @@ target_include_directories(flightgear_bridge
                 PUBLIC ${MAVLINK_INCLUDE_DIRS})
 
 target_compile_options(flightgear_bridge PUBLIC -g -fexceptions -Wno-cast-align -Wno-address-of-packed-member)
-
-target_link_libraries(flightgear_bridge ignition-math4::ignition-math4)
+target_link_libraries(flightgear_bridge Eigen3::Eigen)
 

README.md

@@ -13,8 +13,8 @@ It connects to FG (over UDP generic protocol) and transforms the data to TCP MAV
 ### How to run the development version:
 
 #### Install:
-1) Install FlightGear. In Ubuntu You can use install last stable FG from PAA repository by folowing commands: ```sudo add-apt-repository -y -u ppa:saiarcot895/flightgear``` and ```sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet install flightgear```
-3) Set write permissions to the `Protocols` folder in the FlightGear instalation directory. On Ubuntu run ```sudo chmod a+w /usr/share/games/flightgear/Protocols ```
+1) Install FlightGear. In Ubuntu You can use install last stable FG from the [PPA repository](https://launchpad.net/~saiarcot895/+archive/ubuntu/flightgear) by following commands: ```sudo add-apt-repository -y -u ppa:saiarcot895/flightgear``` and ```sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet install flightgear```
+3) Set write permissions to the `Protocols` folder in the FlightGear instalation directory. On Ubuntu run ```sudo chmod a+w /usr/share/games/flightgear/Protocol ```
 
 #### Run:
 1) Open [QgroundControl](http://qgroundcontrol.com/)
@@ -23,7 +23,7 @@ It connects to FG (over UDP generic protocol) and transforms the data to TCP MAV
 
 #### Known issues:
 1) If you have FPS lower than 20 the bridge will not work correctly. Check your FPS. In FlightGear display frame rate by enabling it in View->View Options->Show frame rate.
-2) You can probably use a wild set of FG versions - we tested installation with FG 2019.1.1 and the "next" (source-code branch) of FG (nightly builds). But in the past, we achieved basic functionality on Debian 9, FG 2016.1.1 from distribution repository, with some Racal (JSBSim) model download as a zip from the FGaddon repository.
+2) You can probably use a wild set of FG versions - we tested installation with FG 2019.1.1 and the "next" (source-code branch) of FG (nightly builds). But in the past, we achieved basic functionality on Debian 9, FG 2016.1.1 from the distribution repository, with some Racal (JSBSim) model download as a zip from the FGaddon repository.
 3) Multiple models packaged with the bridge have an electric engine that needs up-to-date patched FlightGear from [nightly builds PPA repository](https://launchpad.net/~saiarcot895/+archive/ubuntu/flightgear-edge).
 5) Internal starting scripts run ```fgfs``` has a set of parameters to reduce graphic load. But before that setup, the starting script searches for the FG-Data folder by running ```fgfs --version```. If your output of this command does not contain the FG_ROOT line, the script will not work. Check how is your FG binaries in the system, by ```which fgfs```. Then the Advanced Options section of this readme can help you.
 6) If you want another plane model, you can switch the Rascal model to another editing file ```models/rascal.json```.  For example substitute ```Rascal110-YASim``` by ```Rascal110-JSBSim```, or another aircraft name.

models/tf-g2.json

@@ -0,0 +1,10 @@
+{
+    "FgModel":"TF-G2",
+    "Url":"https://github.com/ThunderFly-aerospace/FlightGear-TF-G2/archive/master.zip",
+    "Controls": [
+                ["2","/controls/flight/aileron","-1"],
+                ["3","/controls/flight/elevator","-1"],
+                ["0","/controls/flight/rudder","1"],
+                ["1","/controls/engines/engine/throttle","1"]
+                ]
+}

scripts/vehicle1.sh

@@ -15,11 +15,12 @@ export FG_ARGS_EX="--allow-nasal-read=${MODEL_PATH} \
                    --ignore-autosave \
                    --disable-hold-short \
                    --prop:input/joysticks/js=0 \
+                   --prop:/sim/rendering/static-lod/aimp-range-mode-distance=true \
                    --disable-mouse-pointer \
                    --multiplay=out,10,127.0.0.1,5000 \
                    --multiplay=in,10,127.0.0.1,5001"
 export PX4_ID=0
 
 
 cd ${FIRMWARE_DIR}
-make px4_sitl_nolockstep flightgear_rascal___multi
+make px4_sitl_nolockstep flightgear_rascal___multi  # The make target flightgear_rascal___multi is currently available only in flightgear-multi branch of https://github.com/ThunderFly-aerospace/PX4Firmware fork

scripts/vehicle2.sh

@@ -15,11 +15,12 @@ export FG_ARGS_EX="--allow-nasal-read=${MODEL_PATH} \
                    --ignore-autosave \
                    --disable-hold-short \
                    --prop:input/joysticks/js=0 \
+                   --prop:/sim/rendering/static-lod/aimp-range-mode-distance=true \
                    --disable-mouse-pointer \
                    --multiplay=out,10,127.0.0.1,5001 \
                    --multiplay=in,10,127.0.0.1,5000"
 export PX4_ID=1
 
 
 cd ${FIRMWARE_DIR}
-make px4_sitl_nolockstep flightgear_rascal___multi
+make px4_sitl_nolockstep flightgear_rascal___multi  # The make target flightgear_rascal___multi is currently available only in flightgear-multi branch of https://github.com/ThunderFly-aerospace/PX4Firmware fork

src/vehicle_state.cpp

@@ -175,18 +175,18 @@ void VehicleState::setSensor(const fgOutputData &fgData)
 Vector3d VehicleState::getGyro(const fgOutputData &fgData)
 {
 
-	Quaterniond roll(Vector3d(1, 0, 0), degToRad(fgData.roll_deg));
-	Quaterniond pitch(Vector3d(0, 1, 0), degToRad(fgData.pitch_deg));
-	Quaterniond heading(Vector3d(0, 0, 1), degToRad(fgData.heading_deg));
+	Quaterniond roll(AngleAxisd(degToRad(fgData.roll_deg),Vector3d(1, 0, 0)));
+	Quaterniond pitch(AngleAxisd(degToRad(fgData.pitch_deg),Vector3d(0, 1, 0)));
+	Quaterniond heading(AngleAxisd(degToRad(fgData.heading_deg),Vector3d(0, 0, 1)));
 	Quaterniond bodyRot = heading * pitch * roll;
 
 	Vector3d rollRateP(degToRad(fgData.rateRoll_degps), 0, 0);
 
 	Vector3d pitchRate(0, degToRad(fgData.ratePitch_degps), 0);
-	Vector3d pitchRateP = bodyRot.RotateVectorReverse(heading.RotateVector(pitchRate));
+	Vector3d pitchRateP = bodyRot.inverse()._transformVector(heading._transformVector(pitchRate));
 
 	Vector3d headingRate(0, 0, degToRad(fgData.rateYaw_degps));
-	Vector3d headingRateP = bodyRot.RotateVectorReverse(headingRate);
+	Vector3d headingRateP = bodyRot.inverse()._transformVector(headingRate);
 
 	Vector3d ret = rollRateP + pitchRateP + headingRateP;
 	return ret;
@@ -209,12 +209,12 @@ Vector3d VehicleState::getMagneticField(const fgOutputData &fgData)
 
 	Vector3d mag_g(X, Y, Z);
 
-	Quaterniond roll(Vector3d(1, 0, 0), degToRad(fgData.roll_deg));
-	Quaterniond pitch(Vector3d(0, 1, 0), degToRad(fgData.pitch_deg));
-	Quaterniond heading(Vector3d(0, 0, 1), degToRad(fgData.heading_deg));
+	Quaterniond roll(AngleAxisd(degToRad(fgData.roll_deg),Vector3d(1, 0, 0)));
+	Quaterniond pitch(AngleAxisd(degToRad(fgData.pitch_deg),Vector3d(0, 1, 0)));
+	Quaterniond heading(AngleAxisd(degToRad(fgData.heading_deg),Vector3d(0, 0, 1)));
 	Quaterniond bodyRot = heading * pitch * roll;
 
-	Vector3d mag1 = bodyRot.RotateVectorReverse(mag_g);
+	Vector3d mag1 = bodyRot.inverse()._transformVector(mag_g);
 
 	return mag1;
 }

src/vehicle_state.h

@@ -46,10 +46,9 @@
 #include <random>
 
 #include <mavlink/v2.0/common/mavlink.h>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Quaternion.hh>
+#include <Eigen/Geometry> 
 
-using namespace ignition::math;
+using namespace Eigen;
 
 struct fgOutputData {
 
@@ -91,6 +90,8 @@ struct fgOutputData {
 class VehicleState
 {
 
+//typedef Vector3d Vector3<double>
+
 public:
 
 	mavlink_hil_gps_t hil_gps_msg;