mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: add test for LORD EAHRS
This commit is contained in:
Davis Schenkenberger
Peter Barker
parent
85fbbe0704
commit
3e748d77c9
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@ -0,0 +1,7 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
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1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 20.000000 1
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 50.000000 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367333 149.163164 28.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 28.000000 1
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5 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362947 149.165179 0.000000 1
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@ -2295,11 +2295,11 @@ class AutoTestPlane(AutoTest):
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self.set_parameter("WP_LOITER_RAD", default_rad)
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self.fly_home_land_and_disarm(240)
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def fly_external_AHRS(self):
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def fly_external_AHRS(self, sim, eahrs_type, mission):
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"""Fly with external AHRS (VectorNav)"""
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self.customise_SITL_commandline(["--uartE=sim:VectorNav"])
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self.customise_SITL_commandline(["--uartE=sim:%s" % sim])
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self.set_parameter("EAHRS_TYPE", 1)
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self.set_parameter("EAHRS_TYPE", eahrs_type)
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self.set_parameter("SERIAL4_PROTOCOL", 36)
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self.set_parameter("SERIAL4_BAUD", 230400)
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self.set_parameter("GPS_TYPE", 21)
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@ -2313,7 +2313,13 @@ class AutoTestPlane(AutoTest):
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.fly_mission("ap1.txt")
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self.fly_mission(mission)
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def test_vectornav(self):
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self.fly_external_AHRS("VectorNav", 1, "ap1.txt")
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def test_lord(self):
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self.fly_external_AHRS("LORD", 2, "ap1.txt")
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def get_accelvec(self, m):
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return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
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@ -3319,9 +3325,13 @@ class AutoTestPlane(AutoTest):
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"Test terrain following in loiter",
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self.test_loiter_terrain),
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("ExternalAHRS",
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"Test external AHRS support",
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self.fly_external_AHRS),
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("VectorNavEAHRS",
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"Test VectorNav EAHRS support",
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self.test_vectornav),
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("LordEAHRS",
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"Test LORD Microstrain EAHRS support",
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self.test_lord),
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("Deadreckoning",
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"Test deadreckoning support",
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@ -89,42 +89,42 @@ void LORD::send_imu_packet(void)
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start_us = tv.tv_usec * 1000;
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}
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packet.header[0] = 0x75;
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packet.header[1] = 0x65;
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packet.header[2] = 0x80;
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packet.header[0] = 0x75; // Sync One
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packet.header[1] = 0x65; // Sync Two
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packet.header[2] = 0x80; // INS Descriptor
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// Add ambient pressure field
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packet.payload[packet.payload_size++] = 0x06;
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packet.payload[packet.payload_size++] = 0x17;
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packet.payload[packet.payload_size++] = 0x06; // Ambient Pressure Field Size
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packet.payload[packet.payload_size++] = 0x17; // Descriptor
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float sigma, delta, theta;
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AP_Baro::SimpleAtmosphere(fdm.altitude * 0.001f, sigma, delta, theta);
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put_float(packet, SSL_AIR_PRESSURE * delta * 0.001 + rand_float() * 0.1);
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// Add scaled magnetometer field
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packet.payload[packet.payload_size++] = 0x0E;
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packet.payload[packet.payload_size++] = 0x06;
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packet.payload[packet.payload_size++] = 0x0E; // Scaled Magnetometer Field Size
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packet.payload[packet.payload_size++] = 0x06; // Descriptor
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put_float(packet, fdm.bodyMagField.x*0.001);
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put_float(packet, fdm.bodyMagField.y*0.001);
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put_float(packet, fdm.bodyMagField.z*0.001);
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// Add scaled acceletometer field
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packet.payload[packet.payload_size++] = 0x0E;
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packet.payload[packet.payload_size++] = 0x04;
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// Add scaled accelerometer field
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packet.payload[packet.payload_size++] = 0x0E; // Scaled Accelerometer Field Size
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packet.payload[packet.payload_size++] = 0x04; // Descriptor
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put_float(packet, fdm.xAccel / GRAVITY_MSS);
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put_float(packet, fdm.yAccel / GRAVITY_MSS);
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put_float(packet, fdm.zAccel / GRAVITY_MSS);
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// Add scaled gyro field
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const float gyro_noise = 0.05;
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packet.payload[packet.payload_size++] = 0x0E;
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packet.payload[packet.payload_size++] = 0x05;
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packet.payload[packet.payload_size++] = 0x0E; // Scaled Gyro Field Size
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packet.payload[packet.payload_size++] = 0x05; // Descriptor
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put_float(packet, radians(fdm.rollRate + rand_float() * gyro_noise));
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put_float(packet, radians(fdm.pitchRate + rand_float() * gyro_noise));
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put_float(packet, radians(fdm.yawRate + rand_float() * gyro_noise));
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// Add CF Quaternion field
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packet.payload[packet.payload_size++] = 0x12;
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packet.payload[packet.payload_size++] = 0x0A;
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packet.payload[packet.payload_size++] = 0x12; // CF Quaternion Field Size
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packet.payload[packet.payload_size++] = 0x0A; // Descriptor
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put_float(packet, fdm.quaternion.q1);
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put_float(packet, fdm.quaternion.q2);
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put_float(packet, fdm.quaternion.q3);
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@ -144,39 +144,39 @@ void LORD::send_gnss_packet(void)
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struct timeval tv;
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simulation_timeval(&tv);
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packet.header[0] = 0x75;
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packet.header[1] = 0x65;
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packet.header[2] = 0x81;
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packet.header[0] = 0x75; // Sync One
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packet.header[1] = 0x65; // Sync Two
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packet.header[2] = 0x81; // GNSS Descriptor
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// Add ambient GPS Time
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packet.payload[packet.payload_size++] = 0x0E;
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packet.payload[packet.payload_size++] = 0x09;
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// Add GPS Time
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packet.payload[packet.payload_size++] = 0x0E; // GPS Time Field Size
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packet.payload[packet.payload_size++] = 0x09; // Descriptor
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put_double(packet, (double) tv.tv_sec);
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put_int(packet, tv.tv_usec / (AP_MSEC_PER_WEEK * 1000000ULL));
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put_int(packet, 0);
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// Add GNSS Fix Information
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packet.payload[packet.payload_size++] = 0x08;
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packet.payload[packet.payload_size++] = 0x0B;
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packet.payload[packet.payload_size++] = 0x08; // GNSS Fix Field Size
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packet.payload[packet.payload_size++] = 0x0B; // Descriptor
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packet.payload[packet.payload_size++] = 0x00; // Fix type
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packet.payload[packet.payload_size++] = 19; // Sat count
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put_int(packet, 0); // Fix flags
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put_int(packet, 0); // Valid flags
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// Add GNSS LLH position
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packet.payload[packet.payload_size++] = 0x2C;
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packet.payload[packet.payload_size++] = 0x03;
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packet.payload[packet.payload_size++] = 0x2C; // GNSS LLH Field Size
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packet.payload[packet.payload_size++] = 0x03; // Descriptor
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put_double(packet, fdm.latitude);
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put_double(packet, fdm.longitude);
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put_double(packet, 0); // Height above ellipsoid - unused
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put_double(packet, fdm.altitude);
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put_float(packet, 0.5f); // Horizontal accuracy
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put_float(packet, 0.5f); // Vertical accuracy
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put_int(packet, 31); // Valid flags
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put_int(packet, 31); // Valid flags
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// Add DOP Data
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packet.payload[packet.payload_size++] = 0x20;
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packet.payload[packet.payload_size++] = 0x07;
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packet.payload[packet.payload_size++] = 0x20; // DOP Field Size
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packet.payload[packet.payload_size++] = 0x07; // Descriptor
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put_float(packet, 0); // GDOP
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put_float(packet, 0); // PDOP
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put_float(packet, 0); // HDOP
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@ -187,17 +187,17 @@ void LORD::send_gnss_packet(void)
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put_int(packet, 127);
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// Add GNSS NED velocity
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packet.payload[packet.payload_size++] = 0x24;
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packet.payload[packet.payload_size++] = 0x05;
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packet.payload[packet.payload_size++] = 0x24; // GNSS NED Velocity Field Size
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packet.payload[packet.payload_size++] = 0x05; // Descriptor
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put_float(packet, fdm.speedN);
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put_float(packet, fdm.speedE);
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put_float(packet, fdm.speedD);
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put_float(packet, 0); //speed - unused
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put_float(packet, 0); //ground speed - unused
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put_float(packet, 0); //heading - unused
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put_float(packet, 0.25f); //speed accuracy
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put_float(packet, 0); //heading accuracy - unused
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put_int(packet, 31); //valid flags
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put_float(packet, 0); //speed - unused
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put_float(packet, 0); //ground speed - unused
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put_float(packet, 0); //heading - unused
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put_float(packet, 0.25f); //speed accuracy
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put_float(packet, 0); //heading accuracy - unused
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put_int(packet, 31); //valid flags
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packet.header[3] = packet.payload_size;
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@ -213,39 +213,39 @@ void LORD::send_filter_packet(void)
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struct timeval tv;
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simulation_timeval(&tv);
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packet.header[0] = 0x75;
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packet.header[1] = 0x65;
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packet.header[2] = 0x82;
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packet.header[0] = 0x75; // Sync One
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packet.header[1] = 0x65; // Sync Two
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packet.header[2] = 0x82; // Filter Descriptor
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// Add ambient Filter Time
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packet.payload[packet.payload_size++] = 0x0E;
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packet.payload[packet.payload_size++] = 0x11;
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// Add Filter Time
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packet.payload[packet.payload_size++] = 0x0E; // Filter Time Field Size
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packet.payload[packet.payload_size++] = 0x11; // Descriptor
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put_double(packet, (double) tv.tv_usec / 1e6);
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put_int(packet, tv.tv_usec / (AP_MSEC_PER_WEEK * 1000000ULL));
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put_int(packet, 0x0001);
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// Add GNSS Filter velocity
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packet.payload[packet.payload_size++] = 0x10;
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packet.payload[packet.payload_size++] = 0x02;
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packet.payload[packet.payload_size++] = 0x10; // GNSS Velocity Field Size
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packet.payload[packet.payload_size++] = 0x02; // Descriptor
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put_float(packet, fdm.speedN);
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put_float(packet, fdm.speedE);
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put_float(packet, fdm.speedD);
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put_int(packet, 0x0001);
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// Add Filter LLH position
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packet.payload[packet.payload_size++] = 0x1C;
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packet.payload[packet.payload_size++] = 0x01;
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packet.payload[packet.payload_size++] = 0x1C; // Filter LLH Field Size
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packet.payload[packet.payload_size++] = 0x01; // Descriptor
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put_double(packet, fdm.latitude);
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put_double(packet, fdm.longitude);
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put_double(packet, 0); // Height above ellipsoid - unused
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put_int(packet, 0x0001); // Valid flags
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put_double(packet, 0); // Height above ellipsoid - unused
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put_int(packet, 0x0001); // Valid flags
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packet.payload[packet.payload_size++] = 0x08;
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packet.payload[packet.payload_size++] = 0x10;
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put_int(packet, 0x02); // Filter state
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put_int(packet, 0x03); // Dynamics mode
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put_int(packet, 0); // Filter flags
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// Add Filter State
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packet.payload[packet.payload_size++] = 0x08; // Filter State Field Size
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packet.payload[packet.payload_size++] = 0x10; // Descriptor
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put_int(packet, 0x02); // Filter state (Running, Solution Valid)
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put_int(packet, 0x03); // Dynamics mode (Airborne)
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put_int(packet, 0); // Filter flags (None, no warnings)
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packet.header[3] = packet.payload_size;
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@ -303,4 +303,5 @@ void LORD::put_int(LORD_Packet &packet, uint16_t t)
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{
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put_be16_ptr(&packet.payload[packet.payload_size], t);
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packet.payload_size += sizeof(uint16_t);
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}
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}
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@ -1,20 +1,12 @@
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//
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// Created by asa on 9/23/21.
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//
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// Created by Asa Davis and Davis Schenkenberger on 23rd September 21.
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//usage:
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//PARAMS:
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// AHRS_EKF_TYPE = 11
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// EAHRS_TYPE = 2
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// SERIAL4_PROTOCOL = 36
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// SERIAL4_BAUD = 115
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// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:LORD
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//debugging:
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//echo 0 | sudo tee /proc/sys/kernel/yama/ptrace_scope
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//sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:LORD
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//then just attach to process and set breakpoints in AP_InertialSensor_SITL to look at raw stat variables
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// param set AHRS_EKF_TYPE 11
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// param set EAHRS_TYPE 2
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// param set SERIAL4_PROTOCOL 36
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// param set SERIAL4_BAUD 115
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// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:LORD
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#pragma once
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#include "SIM_Aircraft.h"
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@ -61,4 +53,5 @@ private:
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uint64_t start_us;
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};
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}
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}
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