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SITL: Airsim: Add support for rangefinder sensor data

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Also increase RC channels to 12
This commit is contained in:
Rajat Singhal 2020-08-08 02:02:06 +05:30 committed by Andrew Tridgell
parent 6085614364
commit 0f66936353
2 changed files with 13 additions and 2 deletions
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9
libraries/SITL/SIM_AirSim.cpp
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@ -323,11 +323,18 @@ void AirSim::recv_fdm(const sitl_input& input)
scanner.points = state.lidar.points; scanner.points = state.lidar.points;
rcin_chan_count = state.rc.rc_channels.length < 8 ? state.rc.rc_channels.length : 8; // Update RC input, max 12 channels
rcin_chan_count = MIN(state.rc.rc_channels.length, 12);
for (uint8_t i=0; i < rcin_chan_count; i++) { for (uint8_t i=0; i < rcin_chan_count; i++) {
rcin[i] = state.rc.rc_channels.data[i]; rcin[i] = state.rc.rc_channels.data[i];
} }
// Update Rangefinder data, max sensors limit as defined
uint8_t rng_sensor_count = MIN(state.rng.rng_distances.length, RANGEFINDER_MAX_INSTANCES);
for (uint8_t i=0; i<rng_sensor_count; i++) {
rangefinder_m[i] = state.rng.rng_distances.data[i];
}
#if 0 #if 0
// @LoggerMessage: ASM1 // @LoggerMessage: ASM1
// @Description: AirSim simulation data // @Description: AirSim simulation data

6
libraries/SITL/SIM_AirSim.h
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@ -121,6 +121,9 @@ private:
struct { struct {
struct float_array rc_channels; struct float_array rc_channels;
} rc; } rc;
struct {
struct float_array rng_distances;
} rng;
} state; } state;
// table to aid parsing of JSON sensor data // table to aid parsing of JSON sensor data
@ -129,7 +132,7 @@ private:
const char *key; const char *key;
void *ptr; void *ptr;
enum data_type type; enum data_type type;
} keytable[12] = { } keytable[13] = {
{ "", "timestamp", &state.timestamp, DATA_UINT64 }, { "", "timestamp", &state.timestamp, DATA_UINT64 },
{ "imu", "angular_velocity", &state.imu.angular_velocity, DATA_VECTOR3F }, { "imu", "angular_velocity", &state.imu.angular_velocity, DATA_VECTOR3F },
{ "imu", "linear_acceleration", &state.imu.linear_acceleration, DATA_VECTOR3F }, { "imu", "linear_acceleration", &state.imu.linear_acceleration, DATA_VECTOR3F },
@ -142,6 +145,7 @@ private:
{ "velocity", "world_linear_velocity", &state.velocity.world_linear_velocity, DATA_VECTOR3F }, { "velocity", "world_linear_velocity", &state.velocity.world_linear_velocity, DATA_VECTOR3F },
{ "lidar", "point_cloud", &state.lidar.points, DATA_VECTOR3F_ARRAY }, { "lidar", "point_cloud", &state.lidar.points, DATA_VECTOR3F_ARRAY },
{ "rc", "channels", &state.rc.rc_channels, DATA_FLOAT_ARRAY }, { "rc", "channels", &state.rc.rc_channels, DATA_FLOAT_ARRAY },
{ "rng", "distances", &state.rng.rng_distances, DATA_FLOAT_ARRAY },
}; };
}; };