mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.4 KiB
C++
76 lines
2.4 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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SITL.cpp - software in the loop state
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public License
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as published by the Free Software Foundation; either version 2.1
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of the License, or (at your option) any later version.
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*/
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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#include <SITL.h>
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// table of user settable parameters
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const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
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AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise),
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AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise),
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AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise),
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AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise),
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AP_GROUPINFO("GPS_DISABLE",4, SITL, gps_disable),
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AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed),
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AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time),
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AP_GROUPEND
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};
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/* report SITL state via MAVLink */
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void SITL::simstate_send(mavlink_channel_t chan)
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{
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double p, q, r;
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float yaw;
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// we want the gyro values to be directly comparable to the
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// raw_imu message, which is in body frame
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convert_body_frame(state.rollDeg, state.pitchDeg,
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state.rollRate, state.pitchRate, state.yawRate,
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&p, &q, &r);
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// convert to same conventions as DCM
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yaw = state.yawDeg;
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if (yaw > 180) {
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yaw -= 360;
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}
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mavlink_msg_simstate_send(chan,
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ToRad(state.rollDeg),
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ToRad(state.pitchDeg),
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ToRad(yaw),
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state.xAccel,
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state.yAccel,
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state.zAccel,
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p, q, r);
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}
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// convert a set of roll rates from earth frame to body frame
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void SITL::convert_body_frame(double rollDeg, double pitchDeg,
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double rollRate, double pitchRate, double yawRate,
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double *p, double *q, double *r)
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{
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double phi, theta, phiDot, thetaDot, psiDot;
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phi = ToRad(rollDeg);
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theta = ToRad(pitchDeg);
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phiDot = ToRad(rollRate);
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thetaDot = ToRad(pitchRate);
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psiDot = ToRad(yawRate);
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*p = phiDot - psiDot*sin(theta);
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*q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta);
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*r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot;
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}
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