fix bugs and add unreal position to the report info.

athersec · Mar 1, 2017 · c1cb4a6 · c1cb4a6
1 parent 5c64816
commit c1cb4a6
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Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/AirLib/include/common/StateReporter.hpp b/AirLib/include/common/StateReporter.hpp
@@ -82,10 +82,9 @@ class StateReporter {
         real_T pitch, roll, yaw;
         VectorMath::toEulerianAngle(quat, pitch, roll, yaw);
 
-        ss_ << name << ": " <<
-            "(" << roll << ", " << pitch << ", " << yaw << ") -" <<
-            " [" << quat.w() << ", " <<
-            quat.x() << ", " << quat.y() << ", " << quat.z()  << "]\n";
+        ss_ << name << ":\n" <<
+            "    euler: (" << roll << ", " << pitch << ", " << yaw << ")\n" <<
+            "    quat: [" << quat.w() << ", " << quat.x() << ", " << quat.y() << ", " << quat.z()  << "]\n";
     }
 
     //write APIs - generic values

diff --git a/AirLib/src/rpc/RpcLibServer.cpp b/AirLib/src/rpc/RpcLibServer.cpp
@@ -30,7 +30,6 @@ struct RpcLibServer::impl {
     {}
 
 	~impl() {
-		server.close_sessions();
 	}
 
     rpc::server server;
@@ -121,7 +120,6 @@ void RpcLibServer::start(bool block)
 void RpcLibServer::stop()
 {
     pimpl_->server.stop();
-	pimpl_->server.close_sessions();
 }
 
 }} //namespace

diff --git a/Unreal/Plugins/AirSim/Source/MavMultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/MavMultiRotorConnector.cpp
@@ -167,7 +167,12 @@ void MavMultiRotorConnector::update(real_T dt)
 
 void MavMultiRotorConnector::reportState(StateReporter& reporter)
 {
+    // report actual location in unreal coordinates so we can plug that into the UE editor to move the drone.
+    FVector unrealPosition = vehicle_pawn_->getPosition();
+    reporter.writeValue("unreal pos", AVehiclePawnBase::toVector3r(unrealPosition, 1.0f, false));
+
 	vehicle_.reportState(reporter);
+
 }
 
 MavMultiRotorConnector::UpdatableObject* MavMultiRotorConnector::getPhysicsBody()