ardupilot/libraries/SITL/SIM_Scrimmage.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulator connection for Scrimmage Simulator
*/
#pragma once
#include <string>
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
a last_letter simulator
*/
class Scrimmage : public Aircraft {
public:
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Scrimmage(const char *frame_str);
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/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
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static Aircraft *create(const char *frame_str) {
return new Scrimmage(frame_str);
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}
void set_config(const char *config) override;
/* Create and set in/out socket for extenal simulator */
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
private:
uint16_t fdm_port_in;
uint16_t fdm_port_out;
const char* fdm_address;
/*
packet sent to Scrimmage from ArduPilot
*/
static const int MAX_NUM_SERVOS = 16;
struct servo_packet {
uint16_t servos[MAX_NUM_SERVOS];
};
/*
state packet sent from Scrimmage to ArduPilot
*/
struct fdm_packet {
uint64_t timestamp_us; // simulation time in microseconds
double latitude, longitude;
double altitude;
double heading;
double speedN, speedE, speedD;
double xAccel, yAccel, zAccel;
double rollRate, pitchRate, yawRate;
double roll, pitch, yaw;
double airspeed;
};
void recv_fdm(const struct sitl_input &input);
void send_servos(const struct sitl_input &input);
void start_scrimmage(void);
uint64_t prev_timestamp_us;
SocketAPM recv_sock;
SocketAPM send_sock;
const char *frame_str;
// Use ArduPlane by default
const char *mission_name = "arduplane.xml";
const char *motion_model = "JSBSimControl";
const char *visual_model = "zephyr-blue";
const char *terrain = "mcmillan";
};
} // namespace SITL