mirror of
https://github.com/ArduPilot/ardupilot
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SITL: initial conversion of multicopter sim to C++
This commit is contained in:
Andrew Tridgell
parent
2a6421d1bf
commit
914b91af9e
193
libraries/SITL/SIM_Aircraft.cpp
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193
libraries/SITL/SIM_Aircraft.cpp
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@ -0,0 +1,193 @@
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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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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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|
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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||||||
|
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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parent class for aircraft simulators
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*/
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#include <AP_Common.h>
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#include "SIM_Aircraft.h"
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#include <unistd.h>
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/*
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parent class for all simulator types
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*/
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/*
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constructor
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*/
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Aircraft::Aircraft(const char *home_str) :
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ground_level(0),
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frame_height(0),
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dcm(),
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gyro(),
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velocity_ef(),
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velocity_body(),
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mass(0),
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update_frequency(50),
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accel_body(0, 0, -GRAVITY_MSS),
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time_now_us(0),
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gyro_noise(radians(0.1f)),
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accel_noise(0.3)
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{
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char *saveptr=NULL;
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char *s = strdup(home_str);
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char *lat_s = strtok_r(s, ",", &saveptr);
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char *lon_s = strtok_r(NULL, ",", &saveptr);
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char *alt_s = strtok_r(NULL, ",", &saveptr);
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char *yaw_s = strtok_r(NULL, ",", &saveptr);
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memset(&home, 0, sizeof(home));
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home.lat = atof(lat_s) * 1.0e7;
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home.lng = atof(lon_s) * 1.0e7;
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home.alt = atof(alt_s) * 1.0e2;
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location = home;
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free(s);
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dcm.from_euler(0, 0, atof(yaw_s));
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}
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/*
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return true if we are on the ground
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*/
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bool Aircraft::on_ground(const Vector3f &pos) const
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{
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return (-pos.z) + home.alt*0.01f <= ground_level + frame_height;
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}
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/*
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update location from position
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*/
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void Aircraft::update_position(void)
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{
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float bearing = degrees(atan2f(position.y, position.x));
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float distance = sqrtf(sq(position.x) + sq(position.y));
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location = home;
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location_update(location, bearing, distance);
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location.alt = home.alt - position.z*100.0f;
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velocity_body = dcm.transposed() * velocity_ef;
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}
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/*
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rotate to the given yaw
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*/
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void Aircraft::set_yaw_degrees(float yaw_degrees)
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{
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float roll, pitch, yaw;
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dcm.to_euler(&roll, &pitch, &yaw);
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yaw = radians(yaw_degrees);
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dcm.from_euler(roll, pitch, yaw);
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}
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/* advance time by deltat in seconds */
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void Aircraft::time_advance(float deltat)
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{
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time_now_us += deltat * 1.0e6f;
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}
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/* setup the frame step time */
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void Aircraft::setup_frame_time(float new_rate, float new_speedup)
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{
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rate_hz = new_rate;
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target_speedup = new_speedup;
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frame_time_us = 1.0e6f/rate_hz;
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scaled_frame_time_us = frame_time_us/target_speedup;
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last_wall_time_us = get_wall_time_us();
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achieved_rate_hz = rate_hz;
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}
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/* adjust frame_time calculation */
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void Aircraft::adjust_frame_time(float new_rate)
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{
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rate_hz = new_rate;
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frame_time_us = 1.0e6f/rate_hz;
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scaled_frame_time_us = frame_time_us/target_speedup;
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}
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/* try to synchronise simulation time with wall clock time, taking
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into account desired speedup */
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void Aircraft::sync_frame_time(void)
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{
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uint64_t now = get_wall_time_us();
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if (now < last_wall_time_us + scaled_frame_time_us) {
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usleep(last_wall_time_us + scaled_frame_time_us - now);
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now = get_wall_time_us();
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if (now > last_wall_time_us && now - last_wall_time_us < 1.0e5) {
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float rate = 1.0e6f/(now - last_wall_time_us);
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achieved_rate_hz = (0.98f*achieved_rate_hz) + (0.02f*rate);
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if (achieved_rate_hz < rate_hz * target_speedup) {
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scaled_frame_time_us *= 0.999;
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} else {
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scaled_frame_time_us *= 1.001;
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}
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}
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}
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last_wall_time_us = now;
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}
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/* add noise based on throttle level (from 0..1) */
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void Aircraft::add_noise(float throttle)
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{
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gyro += Vector3f(rand_normal(0, 1),
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rand_normal(0, 1),
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rand_normal(0, 1)) * gyro_noise;
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accel_body += Vector3f(rand_normal(0, 1),
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rand_normal(0, 1),
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rand_normal(0, 1)) * accel_noise;
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}
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/*
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normal distribution random numbers
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See
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http://en.literateprograms.org/index.php?title=Special:DownloadCode/Box-Muller_transform_%28C%29&oldid=7011
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*/
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double Aircraft::rand_normal(double mean, double stddev)
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{
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static double n2 = 0.0;
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static int n2_cached = 0;
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if (!n2_cached)
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{
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double x, y, r;
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do
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{
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x = 2.0*rand()/RAND_MAX - 1;
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y = 2.0*rand()/RAND_MAX - 1;
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r = x*x + y*y;
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}
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while (r == 0.0 || r > 1.0);
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{
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double d = sqrt(-2.0*log(r)/r);
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double n1 = x*d;
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n2 = y*d;
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double result = n1*stddev + mean;
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n2_cached = 1;
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return result;
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}
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}
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else
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{
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n2_cached = 0;
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return n2*stddev + mean;
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}
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}
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103
libraries/SITL/SIM_Aircraft.h
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103
libraries/SITL/SIM_Aircraft.h
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@ -0,0 +1,103 @@
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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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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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|
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You should have received a copy of the GNU General Public License
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|
along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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parent class for aircraft simulators
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*/
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#include "SITL.h"
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#include <AP_Common.h>
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#include <AP_Math.h>
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/*
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parent class for all simulator types
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*/
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class Aircraft
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{
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public:
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Aircraft(const char *home_str);
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/*
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structure passed in giving servo positions as PWM values in
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microseconds
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*/
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struct sitl_input {
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uint16_t servos[16];
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};
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/*
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step the FDM by one time step
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*/
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virtual void update(const struct sitl_input &input) = 0;
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/* fill a sitl_fdm structure from the simulator state */
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void fill_fdm(struct sitl_fdm &fdm) const;
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protected:
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Location home;
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Location location;
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float ground_level;
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float frame_height;
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Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
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Vector3f gyro; // rad/s
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Vector3f velocity_ef; // m/s, earth frame
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Vector3f velocity_body; // m/s, body frame
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Vector3f position; // meters, NED from origin
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float mass; // kg
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float update_frequency;
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Vector3f accel_body; // m/s/s NED, body frame
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uint64_t time_now_us;
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const float gyro_noise;
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const float accel_noise;
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float rate_hz;
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float achieved_rate_hz;
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float target_speedup;
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float frame_time_us;
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float scaled_frame_time_us;
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uint64_t last_wall_time_us;
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bool on_ground(const Vector3f &pos) const;
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/* update location from position */
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void update_position(void);
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/* rotate to the given yaw */
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void set_yaw_degrees(float yaw_degrees);
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/* advance time by deltat in seconds */
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void time_advance(float deltat);
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/* setup the frame step time */
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void setup_frame_time(float rate, float speedup);
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/* adjust frame_time calculation */
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void adjust_frame_time(float rate);
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/* try to synchronise simulation time with wall clock time, taking
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into account desired speedup */
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void sync_frame_time(void);
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/* add noise based on throttle level (from 0..1) */
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void add_noise(float throttle);
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/* return wall clock time in microseconds since 1970 */
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uint64_t get_wall_time_us(void) const;
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/* return normal distribution random numbers */
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double rand_normal(double mean, double stddev);
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};
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221
libraries/SITL/SIM_Multicopter.cpp
Normal file
221
libraries/SITL/SIM_Multicopter.cpp
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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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|
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,
|
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|
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/>.
|
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|
*/
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/*
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parent class for aircraft simulators
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*/
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#include "SIM_Multicopter.h"
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#include <stdio.h>
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Motor m(90, false, 1);
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static const Motor quad_plus_motors[4] =
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{
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Motor(90, false, 1),
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Motor(270, false, 2),
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Motor(0, true, 3),
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Motor(180, true, 4)
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};
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static const Motor quad_x_motors[4] =
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{
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Motor(45, false, 1),
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Motor(225, false, 2),
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Motor(315, true, 3),
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Motor(135, true, 4)
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};
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static const Motor hexa_motors[6] =
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{
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Motor(60, false, 1),
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Motor(60, true, 7),
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Motor(180, true, 4),
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Motor(180, false, 8),
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Motor(-60, true, 2),
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Motor(-60, false, 3),
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};
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|
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static const Motor hexax_motors[6] =
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|
{
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Motor(30, false, 7),
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Motor(90, true, 1),
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Motor(150, false, 4),
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Motor(210, true, 8),
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Motor(270, false, 2),
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Motor(330, true, 3)
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|
};
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|
static const Motor octa_motors[8] =
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{
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|
Motor(0, true, 1),
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Motor(180, true, 2),
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Motor(45, false, 3),
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Motor(135, false, 4),
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Motor(-45, false, 5),
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Motor(-135, false, 6),
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Motor(270, true, 7),
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Motor(90, true, 8)
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|
};
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|
static const Motor octa_quad_motors[8] =
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|
{
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Motor( 45, false, 1),
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|
Motor( -45, true, 2),
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|
Motor(-135, false, 3),
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Motor( 135, true, 4),
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Motor( -45, false, 5),
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Motor( 45, true, 6),
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|
Motor( 135, false, 7),
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Motor(-135, true, 8)
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};
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/*
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|
table of supported frame types
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*/
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static const Frame supported_frames[] =
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{
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Frame("+", 4, quad_plus_motors),
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Frame("x", 4, quad_x_motors),
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Frame("hexa", 6, hexa_motors),
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Frame("hexax", 6, hexax_motors),
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Frame("octa", 8, octa_motors),
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Frame("octa-quad", 8, octa_quad_motors)
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};
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||||||
|
|
||||||
|
/*
|
||||||
|
constructor
|
||||||
|
*/
|
||||||
|
MultiCopter::MultiCopter(const char *home_str, const char *frame_str) :
|
||||||
|
Aircraft(home_str),
|
||||||
|
frame(NULL),
|
||||||
|
hover_throttle(0.51),
|
||||||
|
terminal_velocity(15.0),
|
||||||
|
terminal_rotation_rate(4*radians(360.0))
|
||||||
|
{
|
||||||
|
for (uint8_t i=0; i<sizeof(supported_frames)/sizeof(supported_frames[0]); i++) {
|
||||||
|
if (strcasecmp(frame_str, supported_frames[i].name) == 0) {
|
||||||
|
frame = &supported_frames[i];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (frame == NULL) {
|
||||||
|
printf("Frame '%s' not found", frame_str);
|
||||||
|
exit(1);
|
||||||
|
}
|
||||||
|
/*
|
||||||
|
scaling from total motor power to Newtons. Allows the copter
|
||||||
|
to hover against gravity when each motor is at hover_throttle
|
||||||
|
*/
|
||||||
|
thrust_scale = (mass * GRAVITY_MSS) / (frame->num_motors * hover_throttle);
|
||||||
|
|
||||||
|
frame_height = 0.1;
|
||||||
|
mass = 1.5;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
update the multicopter simulation by one time step
|
||||||
|
*/
|
||||||
|
void MultiCopter::update(const struct sitl_input &input)
|
||||||
|
{
|
||||||
|
float motor_speed[frame->num_motors];
|
||||||
|
|
||||||
|
for (uint8_t i=0; i<frame->num_motors; i++) {
|
||||||
|
uint16_t servo = input.servos[frame->motors[i].servo-1];
|
||||||
|
// assume 1000 to 2000 PWM range
|
||||||
|
if (servo <= 1000) {
|
||||||
|
motor_speed[i] = 0;
|
||||||
|
} else {
|
||||||
|
motor_speed[i] = (servo-1000) / 1000.0f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// how much time has passed?
|
||||||
|
float delta_time = frame_time_us * 1.0e-6f;
|
||||||
|
|
||||||
|
// rotational acceleration, in rad/s/s, in body frame
|
||||||
|
Vector3f rot_accel;
|
||||||
|
float thrust = 0.0f; // newtons
|
||||||
|
|
||||||
|
for (uint8_t i=0; i<frame->num_motors; i++) {
|
||||||
|
rot_accel.x += -radians(5000.0) * sinf(radians(frame->motors[i].angle)) * motor_speed[i];
|
||||||
|
rot_accel.y += radians(5000.0) * cosf(radians(frame->motors[i].angle)) * motor_speed[i];
|
||||||
|
if (frame->motors[i].clockwise) {
|
||||||
|
rot_accel.z -= motor_speed[i] * radians(400.0);
|
||||||
|
} else {
|
||||||
|
rot_accel.z += motor_speed[i] * radians(400.0);
|
||||||
|
}
|
||||||
|
thrust += motor_speed[i] * thrust_scale; // newtons
|
||||||
|
}
|
||||||
|
|
||||||
|
// rotational air resistance
|
||||||
|
rot_accel.x -= gyro.x * radians(5000.0) / terminal_rotation_rate;
|
||||||
|
rot_accel.y -= gyro.y * radians(5000.0) / terminal_rotation_rate;
|
||||||
|
rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
|
||||||
|
|
||||||
|
// update rotational rates in body frame
|
||||||
|
gyro += rot_accel * delta_time;
|
||||||
|
|
||||||
|
// update attitude
|
||||||
|
dcm.rotate(gyro * delta_time);
|
||||||
|
dcm.normalize();
|
||||||
|
|
||||||
|
// air resistance
|
||||||
|
Vector3f air_resistance = -velocity_ef * (GRAVITY_MSS/terminal_velocity);
|
||||||
|
|
||||||
|
accel_body = Vector3f(0, 0, -thrust / mass);
|
||||||
|
Vector3f accel_earth = dcm * accel_body;
|
||||||
|
|
||||||
|
accel_earth += Vector3f(0, 0, GRAVITY_MSS);
|
||||||
|
accel_earth += air_resistance;
|
||||||
|
|
||||||
|
// if we're on the ground, then our vertical acceleration is limited
|
||||||
|
// to zero. This effectively adds the force of the ground on the aircraft
|
||||||
|
if (on_ground(position) && accel_earth.z > 0) {
|
||||||
|
accel_earth.z = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// work out acceleration as seen by the accelerometers. It sees the kinematic
|
||||||
|
// acceleration (ie. real movement), plus gravity
|
||||||
|
accel_body = dcm.transposed() * (accel_earth + Vector3f(0, 0, -GRAVITY_MSS));
|
||||||
|
|
||||||
|
// add some noise
|
||||||
|
add_noise(thrust / (thrust_scale * frame->num_motors));
|
||||||
|
|
||||||
|
// new velocity vector
|
||||||
|
velocity_ef += accel_earth * delta_time;
|
||||||
|
|
||||||
|
// new position vector
|
||||||
|
Vector3f old_position = position;
|
||||||
|
position += velocity_ef * delta_time;
|
||||||
|
|
||||||
|
// constrain height to the ground
|
||||||
|
if (on_ground(position)) {
|
||||||
|
if (!on_ground(old_position)) {
|
||||||
|
printf("Hit ground at %f m/s\n", velocity_ef.z);
|
||||||
|
|
||||||
|
velocity_ef.zero();
|
||||||
|
|
||||||
|
// zero roll/pitch, but keep yaw
|
||||||
|
float r, p, y;
|
||||||
|
dcm.to_euler(&r, &p, &y);
|
||||||
|
dcm.from_euler(0, 0, y);
|
||||||
|
|
||||||
|
position.z = -(ground_level + frame_height - home.alt*0.01f);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// update lat/lon/altitude
|
||||||
|
update_position();
|
||||||
|
}
|
||||||
75
libraries/SITL/SIM_Multicopter.h
Normal file
75
libraries/SITL/SIM_Multicopter.h
Normal file
@ -0,0 +1,75 @@
|
|||||||
|
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||||
|
/*
|
||||||
|
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/>.
|
||||||
|
*/
|
||||||
|
/*
|
||||||
|
parent class for aircraft simulators
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "SIM_Aircraft.h"
|
||||||
|
|
||||||
|
/*
|
||||||
|
class to describe a motor position
|
||||||
|
*/
|
||||||
|
class Motor {
|
||||||
|
public:
|
||||||
|
float angle;
|
||||||
|
bool clockwise;
|
||||||
|
uint8_t servo;
|
||||||
|
|
||||||
|
Motor(float _angle, bool _clockwise, uint8_t _servo) :
|
||||||
|
angle(_angle), // angle in degrees from front
|
||||||
|
clockwise(_clockwise), // clockwise == true, anti-clockwise == false
|
||||||
|
servo(_servo) // what servo output drives this motor
|
||||||
|
{}
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
class to describe a multicopter frame type
|
||||||
|
*/
|
||||||
|
class Frame {
|
||||||
|
public:
|
||||||
|
const char *name;
|
||||||
|
uint8_t num_motors;
|
||||||
|
const Motor *motors;
|
||||||
|
|
||||||
|
Frame(const char *_name,
|
||||||
|
uint8_t _num_motors,
|
||||||
|
const Motor *_motors) :
|
||||||
|
name(_name),
|
||||||
|
num_motors(_num_motors),
|
||||||
|
motors(_motors) {}
|
||||||
|
};
|
||||||
|
|
||||||
|
/*
|
||||||
|
a multicopter simulator
|
||||||
|
*/
|
||||||
|
class MultiCopter : public Aircraft
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
MultiCopter(const char *home_str, const char *frame_str);
|
||||||
|
|
||||||
|
/* update model by one time step */
|
||||||
|
void update(const struct sitl_input &input);
|
||||||
|
|
||||||
|
private:
|
||||||
|
const Frame *frame;
|
||||||
|
float hover_throttle; // 0..1
|
||||||
|
float terminal_velocity; // m/s
|
||||||
|
|
||||||
|
const float terminal_rotation_rate;
|
||||||
|
float thrust_scale;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
Loading…
Reference in New Issue
Block a user