pbh.h

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// SPDX-FileCopyrightText: Copyright (C) 2019 swift Project Community / Contributors
// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-swift-pilot-client-1
 
 
#ifndef SWIFT_CORE_FSD_PBH_H
#define SWIFT_CORE_FSD_PBH_H
 
#include <QtGlobal>
#include <QtMath>
 
namespace swift::core::fsd
{
    union PBH
    {
        unsigned int pbh = 0; 
        struct
        {
            unsigned int unused : 1; 
            unsigned int onground : 1; 
            unsigned int hdg : 10; 
            int bank : 10; 
            int pitch : 10; 
        };
    };
 
    constexpr double pitchMultiplier() { return 256.0 / 90.0; }
 
    constexpr double bankMultiplier() { return 512.0 / 180.0; }
 
    constexpr double headingMultiplier() { return 1024.0 / 360.0; }
 
    inline void packPBH(double pitch, double bank, double heading, bool onGround, quint32 &pbh)
    {
        PBH pbhstrct;
        pbhstrct.pitch = qFloor(pitch * -pitchMultiplier()); // the "-" is the inverted pitch/bank
        pbhstrct.bank = qFloor(bank * -bankMultiplier());
        pbhstrct.hdg = static_cast<unsigned int>(heading * headingMultiplier());
 
        // FSD has inverted pitch and bank angles
        // based on discussion https://discordapp.com/channels/539048679160676382/539925070550794240/687390301530095634
        // we use *-1 inversion, not "~" (vPilot also uses *-1)
        // with "~" 0->-1 (that is why we saw many -1 PB values on ground)
        // pbhstrct.pitch = ~pbhstrct.pitch;
        // pbhstrct.bank  = ~pbhstrct.bank;
 
        pbhstrct.onground = onGround ? 1 : 0;
        pbh = pbhstrct.pbh;
    }
 
    inline void unpackPBH(quint32 pbh, double &pitch, double &bank, double &heading, bool &onGround)
    {
        PBH pbhstrct;
        pbhstrct.pbh = pbh;
        const int iPitch = qFloor(pbhstrct.pitch / -pitchMultiplier()); // the "-" is the inverted pitch/bank
        const int iBank = qFloor(pbhstrct.bank / -bankMultiplier());
 
        // FSD has inverted pitch and bank angles
        // based on discussion https://discordapp.com/channels/539048679160676382/539925070550794240/687390301530095634
        // we use *-1 inversion, not "~" (vPilot also uses *-1)
        // with "~" 0->-1 (that is why we saw many -1 PB values on ground)
        // iPitch = ~iPitch;
        // iBank  = ~iBank;
 
        pitch = iPitch;
        bank = iBank;
        heading = pbhstrct.hdg / headingMultiplier();
 
        onGround = pbhstrct.onground == 1;
    }
} // namespace swift::core::fsd
 
#endif // SWIFT_CORE_FSD_PBH_H