ardupilot/libraries/SITL/SIM_Vicon.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/>.
*/
/*
simple particle sensor simulation
*/
#pragma once
#include "SIM_Aircraft.h"
#include <SITL/SITL.h>
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#include <AP_HAL/utility/RingBuffer.h>
#include "SIM_SerialDevice.h"
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namespace SITL {
class Vicon : public SerialDevice {
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public:
Vicon();
// update state
void update(const Location &loc, const Vector3d &position, const Vector3f &velocity, const Quaternion &attitude);
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private:
// TODO: make these parameters:
const uint8_t system_id = 17;
const uint8_t component_id = 18;
// we share channels with the ArduPilot binary!
// Beware: the mavlink rangefinder shares this channel.
const mavlink_channel_t mavlink_ch = (mavlink_channel_t)(MAVLINK_COMM_0+5);
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uint64_t last_observation_usec; // time last observation was sent
uint64_t time_offset_us; // simulated timeoffset between external system and autopilot
// buffer of messages to send
struct {
uint64_t time_send_us; // system time this message should be sent or 0 if no message to send
mavlink_message_t obs_msg; // message to be sent
} msg_buf[3];
// SIM_VICON_TYPE parameter bit values
enum class ViconTypeMask : uint8_t {
VISION_POSITION_ESTIMATE = (1 << 0),
VISION_SPEED_ESTIMATE = (1 << 1),
VICON_POSITION_ESTIMATE = (1 << 2),
VISION_POSITION_DELTA = (1 << 3),
ODOMETRY = (1 << 4),
};
// return true if the given message type should be sent
bool should_send(ViconTypeMask type_mask) const { return (((uint8_t)type_mask & _sitl->vicon_type_mask.get()) > 0); }
// get unused index in msg_buf
bool get_free_msg_buf_index(uint8_t &index);
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void update_vicon_position_estimate(const Location &loc,
const Vector3d &position,
const Vector3f &velocity,
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const Quaternion &attitude);
void maybe_send_heartbeat();
uint32_t last_heartbeat_ms;
// position delta message
Quaternion _attitude_prev; // Rotation to previous MAV_FRAME_BODY_FRD from MAV_FRAME_LOCAL_NED
Vector3d _position_prev; // previous position from origin (m) MAV_FRAME_LOCAL_NED
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};
}