#!/usr/bin/env?python
#?parse?and?construct?FlightGear?NET?FDM?packets
#?Andrew?Tridgell?November?2011
#?released?under?GNU?GPL?version?2?or?later

import?struct?math

class?fgFDMError（Exception）:
????‘‘‘fgFDM?error?class‘‘‘
????def?__init__（self?msg）:
????????Exception.__init__（self?msg）
????????self.message?=?‘fgFDMError:?‘?+?msg

class?fgFDMVariable（object）:
????‘‘‘represent?a?single?fgFDM?variable‘‘‘
????def?__init__（self?index?arraylength?units）:
????????self.index???=?index
????????self.arraylength?=?arraylength
????????self.units?=?units

class?fgFDMVariableList（object）:
????‘‘‘represent?a?list?of?fgFDM?variable‘‘‘
????def?__init__（self）:
????????self.vars?=?{}
????????self._nextidx?=?0
????????
????def?add（self?varname?arraylength=1?units=None）:
????????self.vars[varname]?=?fgFDMVariable（self._nextidx?arraylength?units=units）
????????self._nextidx?+=?arraylength

class?fgFDM（object）:
????‘‘‘a(chǎn)?flightgear?native?FDM?parser/generator‘‘‘
????def?__init__（self）:
????????‘‘‘init?a?fgFDM?object‘‘‘
????????self.FG_NET_FDM_VERSION?=?24
????????self.pack_string?=?‘>I?4x?3d?6f?11f?3f?2f?I?4I?4f?4f?4f?4f?4f?4f?4f?4f?4f?I?4f?I?3I?3f?3f?3f?I?i?f?10f‘
????????self.values?=?[0]*98

????????self.FG_MAX_ENGINES?=?4
????????self.FG_MAX_WHEELS??=?3
????????self.FG_MAX_TANKS???=?4

????????#?supported?unit?mappings
????????self.unitmap?=?{
????????????（‘radians‘?‘degrees‘）?:?math.degrees（1）
????????????（‘rps‘?????‘dps‘）?????:?math.degrees（1）
????????????（‘feet‘????‘meters‘）??:?0.3048
????????????（‘fps‘?????‘mps‘）?????:?0.3048
????????????（‘knots‘???‘mps‘）?????:?0.514444444
????????????（‘knots‘???‘fps‘）?????:?0.514444444/0.3048
????????????（‘fpss‘????‘mpss‘）????:?0.3048
????????????（‘seconds‘?‘minutes‘）?:?60
????????????（‘seconds‘?‘hours‘）???:?3600
????????????}

????????#?build?a?mapping?between?variable?name?and?index?in?the?values?array
????????#?note?that?the?order?of?this?initialisation?is?critical?-?it?must
????????#?match?the?wire?structure
????????self.mapping?=?fgFDMVariableList（）
????????self.mapping.add（‘version‘）

????????#?position
????????self.mapping.add（‘longitude‘?units=‘radians‘）	#?geodetic?（radians）
????????self.mapping.add（‘latitude‘?units=‘radians‘）	#?geodetic?（radians）
????????self.mapping.add（‘a(chǎn)ltitude‘?units=‘meters‘）	#?above?sea?level?（meters）
????????self.mapping.add（‘a(chǎn)gl‘?units=‘meters‘）		#?above?ground?level?（meters）

????????#?attitude
????????self.mapping.add（‘phi‘?units=‘radians‘）	#?roll?（radians）
????????self.mapping.add（‘theta‘?units=‘radians‘）	#?pitch?（radians）
????????self.mapping.add（‘psi‘?units=‘radians‘）	#?yaw?or?true?heading?（radians）
????????self.mapping.add（‘a(chǎn)lpha‘?units=‘radians‘）??????#?angle?of?attack?（radians）
????????self.mapping.add（‘beta‘?units=‘radians‘）???????#?side?slip?angle?（radians）

????????#?Velocities
????????self.mapping.add（‘phidot‘?units=‘rps‘）		#?roll?rate?（radians/sec）
????????self.mapping.add（‘thetadot‘?units=‘rps‘）	#?pitch?rate?（radians/sec）
????????self.ma

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----

????.......???????619??2015-09-04?23:47??Flow-master\Flow-master\.gitignore

????.......????????99??2015-09-04?23:47??Flow-master\Flow-master\.gitmodules

????.......??????2213??2015-09-04?23:47??Flow-master\Flow-master\.travis.yml

????.......??????3173??2015-09-04?23:47??Flow-master\Flow-master\baremetal-configs\px4flow-v1\scripts\ld.script

????.......??????3479??2015-09-04?23:47??Flow-master\Flow-master\baremetal-configs\px4flow-v2\scripts\ld.script

?????文件????????203??2015-09-04?23:47??Flow-master\Flow-master\cmake\test.sh

????.......???????805??2015-09-04?23:47??Flow-master\Flow-master\cmake\Toolchain-arm-none-eabi.cmake

????.......??????9195??2015-09-04?23:47??Flow-master\Flow-master\CMakeLists.txt

????.......???????705??2015-09-04?23:47??Flow-master\Flow-master\Flow.sublime-project

????.......???????258??2015-09-04?23:47??Flow-master\Flow-master\Images\px4flow-v1.prototype

????.......???????258??2015-09-04?23:47??Flow-master\Flow-master\Images\px4flow-v2.prototype

????.......??????2514??2015-09-04?23:47??Flow-master\Flow-master\inc\no_warnings.h

????.......?????10572??2015-09-04?23:47??Flow-master\Flow-master\Makefile

????.......??????3358??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\baremetal.mk

????.......??????3294??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\baremetal_px4.mk

????.......???????220??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\board_px4flow-v1.mk

????.......???????337??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\board_px4flow-v2.mk

????.......???????798??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\config_px4flow-v1_default.mk

????.......???????944??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\config_px4flow-v2_default.mk

????.......??????3294??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\firmware_baremetal.mk

????.......??????7829??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\toolchain_gnu-arm-eabi.mk

????.......??????2302??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\uavcanbl.mk

????.......???????186??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\uavcan_board_px4flow-v1.mk

????.......???????186??2015-09-04?23:47??Flow-master\Flow-master\makefiles\baremetal\uavcan_board_px4flow-v2.mk

????.......?????12281??2015-09-04?23:47??Flow-master\Flow-master\makefiles\firmware.mk

????.......??????4684??2015-09-04?23:47??Flow-master\Flow-master\makefiles\library.mk

????.......??????7469??2015-09-04?23:47??Flow-master\Flow-master\makefiles\module.mk

????.......??????2557??2015-09-04?23:47??Flow-master\Flow-master\makefiles\README.txt

????.......??????3817??2015-09-04?23:47??Flow-master\Flow-master\makefiles\setup.mk

????.......??????1968??2015-09-04?23:47??Flow-master\Flow-master\mavlink\include\mavlink\v1.0\checksum.h

............此處省略702個(gè)文件信息