mirror of https://github.com/ArduPilot/ardupilot
autotest: support all 11 PWM output channels
this will allow for more complex aircraft
This commit is contained in:
Andrew Tridgell
parent
a0baf71322
commit
9dd2021ec8
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@ -50,7 +50,12 @@ def setup_home(home):
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def process_sitl_input(buf):
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'''process control changes from SITL sim'''
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(aileron, elevator, rudder, throttle) = struct.unpack('<4d', buf)
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pwm = list(struct.unpack('<11H', buf))
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aileron = (pwm[0]-1500)/500.0
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elevator = (pwm[1]-1500)/500.0
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throttle = (pwm[2]-1000)/1000.0
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rudder = (pwm[3]-1500)/500.0
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if aileron != sitl_state.aileron:
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jsb_set('fcs/aileron-cmd-norm', aileron)
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sitl_state.aileron = aileron
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@ -212,7 +217,7 @@ def main_loop():
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frame_count += 1
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if sim_in.fileno() in rin:
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simbuf = sim_in.recv(32)
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simbuf = sim_in.recv(22)
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process_sitl_input(simbuf)
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# show any jsbsim console output
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@ -13,7 +13,7 @@ for d in [ 'pymavlink',
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import mavlink
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def sim_send(m, a, r):
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def sim_send(m, a):
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'''send flight information to mavproxy and flightgear'''
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global fdm
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@ -53,7 +53,7 @@ def sim_send(m, a, r):
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raise
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def sim_recv(m, a, r):
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def sim_recv(m, a):
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'''receive control information from SITL'''
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while True:
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fd = sim_in.fileno()
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@ -66,15 +66,12 @@ def sim_recv(m, a, r):
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if fd in rin:
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break
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util.check_parent()
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buf = sim_in.recv(32)
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if len(buf) != 32:
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buf = sim_in.recv(22)
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if len(buf) != 22:
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return
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(m0, m1, m2, m3,
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r[0], r[1], r[2], r[3], r[4], r[5], r[6], r[7]) = struct.unpack('<4f8H', buf)
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m[0] = m0
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m[1] = m1
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m[2] = m2
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m[3] = m3
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pwm = list(struct.unpack('<11H', buf))
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for i in range(4):
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m[i] = (pwm[i]-1000)/1000.0
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def interpret_address(addrstr):
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@ -133,9 +130,6 @@ a.update_frequency = opts.rate
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# motors initially off
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m = [0, 0, 0, 0]
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# raw PWM
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r = [0, 0, 0, 0, 0, 0, 0, 0]
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lastt = time.time()
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frame_count = 0
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@ -162,13 +156,12 @@ print("Starting at lat=%f lon=%f alt=%.1f heading=%.1f" % (
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a.yaw))
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while True:
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sim_recv(m, a, r)
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sim_recv(m, a)
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# allow for adding inbalance in flight
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m2 = m[:]
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a.update(m2)
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sim_send(m, a, r)
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sim_send(m, a)
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frame_count += 1
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t = time.time()
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if t - lastt > 1.0:
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@ -31,34 +31,43 @@
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#include "desktop.h"
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#include "util.h"
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#define FGIN_PORT 5501
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#define FGOUT_PORT 5502
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/*
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the sitl_fdm packet is received by the SITL build from the flight
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simulator. This is used to feed the internal sensor emulation
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*/
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struct sitl_fdm {
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// little-endian packet format
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double latitude, longitude; // degrees
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double altitude; // MSL
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double heading; // degrees
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double speedN, speedE; // m/s
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double xAccel, yAccel, zAccel; // m/s/s in body frame
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double rollRate, pitchRate, yawRate; // degrees/s/s in earth frame
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double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
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double airspeed; // m/s
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uint32_t magic; // 0x4c56414e
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};
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#define SIMIN_PORT 5501
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#define RCOUT_PORT 5502
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static int sitl_fd;
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struct sockaddr_in fgout_addr;
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struct sockaddr_in rcout_addr;
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static pid_t parent_pid;
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struct ADC_UDR2 UDR2;
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struct RC_ICR4 ICR4;
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extern AP_TimerProcess timer_scheduler;
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extern Arduino_Mega_ISR_Registry isr_registry;
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static volatile struct {
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double latitude, longitude; // degrees
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double altitude; // MSL
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double heading; // degrees
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double speedN, speedE; // m/s
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double roll, pitch, yaw; // degrees
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double rollRate, pitchRate, yawRate; // degrees per second
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double xAccel, yAccel, zAccel; // meters/s/s
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double airspeed; // m/s
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uint32_t update_count;
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} sim_state;
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static struct sitl_fdm sim_state;
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static uint32_t update_count;
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/*
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setup a FGear listening UDP port, using protocol from MAVLink.xml
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setup a SITL FDM listening UDP port
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*/
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static void setup_fgear(void)
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static void setup_fdm(void)
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{
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int one=1, ret;
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struct sockaddr_in sockaddr;
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@ -68,7 +77,7 @@ static void setup_fgear(void)
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#ifdef HAVE_SOCK_SIN_LEN
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sockaddr.sin_len = sizeof(sockaddr);
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#endif
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sockaddr.sin_port = htons(FGIN_PORT);
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sockaddr.sin_port = htons(SIMIN_PORT);
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sockaddr.sin_family = AF_INET;
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sitl_fd = socket(AF_INET, SOCK_DGRAM, 0);
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@ -91,25 +100,16 @@ static void setup_fgear(void)
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}
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/*
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check for a fgear packet
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check for a SITL FDM packet
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*/
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static void sitl_fgear_input(void)
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static void sitl_fdm_input(void)
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{
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ssize_t size;
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struct fg_mavlink {
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double latitude, longitude, altitude, heading,
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speedN, speedE,
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xAccel, yAccel, zAccel,
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rollRate, pitchRate, yawRate,
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rollDeg, pitchDeg, yawDeg,
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airspeed;
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uint32_t magic;
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};
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struct pwm_packet {
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uint16_t pwm[8];
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};
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union {
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struct fg_mavlink fg_pkt;
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struct sitl_fdm fg_pkt;
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struct pwm_packet pwm_pkt;
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} d;
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@ -131,23 +131,8 @@ static void sitl_fgear_input(void)
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return;
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}
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sim_state.latitude = d.fg_pkt.latitude;
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sim_state.longitude = d.fg_pkt.longitude;
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sim_state.altitude = d.fg_pkt.altitude;
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sim_state.speedN = d.fg_pkt.speedN;
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sim_state.speedE = d.fg_pkt.speedE;
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sim_state.roll = d.fg_pkt.rollDeg;
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sim_state.pitch = d.fg_pkt.pitchDeg;
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sim_state.yaw = d.fg_pkt.yawDeg;
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sim_state.rollRate = d.fg_pkt.rollRate;
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sim_state.pitchRate = d.fg_pkt.pitchRate;
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sim_state.yawRate = d.fg_pkt.yawRate;
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sim_state.xAccel = d.fg_pkt.xAccel;
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sim_state.yAccel = d.fg_pkt.yAccel;
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sim_state.zAccel = d.fg_pkt.zAccel;
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sim_state.heading = d.fg_pkt.heading;
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sim_state.airspeed = d.fg_pkt.airspeed;
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sim_state.update_count++;
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sim_state = d.fg_pkt;
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update_count++;
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count++;
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if (millis() - last_report > 1000) {
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@ -173,46 +158,13 @@ static void sitl_fgear_input(void)
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}
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/*
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send RC outputs to simulator for a quadcopter
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*/
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static void sitl_quadcopter_output(uint16_t pwm[8])
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{
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struct fg_output {
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float throttle[4];
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uint16_t pwm[8];
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} pkt;
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for (uint8_t i=0; i<8; i++) {
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pkt.pwm[i] = htonl(pwm[i]);
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}
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for (uint8_t i=0; i<4; i++) {
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pkt.throttle[i] = (pwm[i]-1000) / 1000.0;
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}
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sendto(sitl_fd, &pkt, sizeof(pkt), MSG_DONTWAIT, (const sockaddr *)&fgout_addr, sizeof(fgout_addr));
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}
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/*
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send RC outputs to simulator for a plane
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*/
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static void sitl_plane_output(uint16_t pwm[8])
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{
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double servo[4];
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servo[0] = (((int)pwm[0]) - 1500)/500.0;
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servo[1] = (((int)pwm[1]) - 1500)/500.0;
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servo[2] = (((int)pwm[3]) - 1500)/500.0;
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servo[3] = (pwm[2] - 1000) / 1000.0;
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sendto(sitl_fd, &servo, sizeof(servo), MSG_DONTWAIT, (const sockaddr *)&fgout_addr, sizeof(fgout_addr));
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}
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/*
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send RC outputs to simulator for a quadcopter
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*/
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static void sitl_simulator_output(void)
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{
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static uint32_t last_update;
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uint16_t pwm[8];
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uint16_t pwm[11];
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/* this maps the registers used for PWM outputs. The RC
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* driver updates these whenever it wants the channel output
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* to change */
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@ -222,14 +174,12 @@ static void sitl_simulator_output(void)
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uint8_t i;
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if (last_update == 0) {
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if (desktop_state.quadcopter) {
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for (i=0; i<8; i++) {
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for (i=0; i<11; i++) {
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(*reg[i]) = 1000*2;
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}
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} else {
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if (!desktop_state.quadcopter) {
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(*reg[0]) = (*reg[1]) = (*reg[3]) = 1500*2;
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(*reg[2]) = (*reg[4]) = (*reg[6]) = 1000*2;
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(*reg[5]) = (*reg[7]) = 1800*2;
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(*reg[7]) = 1800*2;
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}
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}
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@ -239,17 +189,11 @@ static void sitl_simulator_output(void)
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}
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last_update = millis();
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for (i=0; i<8; i++) {
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for (i=0; i<11; i++) {
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// the registers are 2x the PWM value
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pwm[i] = (*reg[i])/2;
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}
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if (desktop_state.quadcopter) {
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sitl_quadcopter_output(pwm);
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} else {
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sitl_plane_output(pwm);
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}
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sendto(sitl_fd, (void*)pwm, sizeof(pwm), MSG_DONTWAIT, (const sockaddr *)&rcout_addr, sizeof(rcout_addr));
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}
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/*
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@ -265,7 +209,7 @@ static void timer_handler(int signum)
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}
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/* check for packet from flight sim */
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sitl_fgear_input();
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sitl_fdm_input();
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// trigger all timers
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timer_scheduler.run();
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@ -278,25 +222,25 @@ static void timer_handler(int signum)
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// send RC output to flight sim
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sitl_simulator_output();
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if (sim_state.update_count == 0) {
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if (update_count == 0) {
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sitl_update_gps(0, 0, 0, 0, 0, false);
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return;
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}
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if (sim_state.update_count == last_update_count) {
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if (update_count == last_update_count) {
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return;
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}
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last_update_count = sim_state.update_count;
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last_update_count = update_count;
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sitl_update_gps(sim_state.latitude, sim_state.longitude,
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sim_state.altitude,
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sim_state.speedN, sim_state.speedE, true);
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sitl_update_adc(sim_state.roll, sim_state.pitch, sim_state.yaw,
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sitl_update_adc(sim_state.rollDeg, sim_state.pitchDeg, sim_state.yawDeg,
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sim_state.rollRate, sim_state.pitchRate, sim_state.yawRate,
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sim_state.xAccel, sim_state.yAccel, sim_state.zAccel,
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sim_state.airspeed);
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sitl_update_barometer(sim_state.altitude);
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sitl_update_compass(sim_state.heading, sim_state.roll, sim_state.pitch, sim_state.heading);
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sitl_update_compass(sim_state.heading, sim_state.rollDeg, sim_state.pitchDeg, sim_state.heading);
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}
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@ -329,12 +273,12 @@ void sitl_setup(void)
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{
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parent_pid = getppid();
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fgout_addr.sin_family = AF_INET;
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fgout_addr.sin_port = htons(FGOUT_PORT);
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inet_pton(AF_INET, "127.0.0.1", &fgout_addr.sin_addr);
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rcout_addr.sin_family = AF_INET;
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rcout_addr.sin_port = htons(RCOUT_PORT);
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inet_pton(AF_INET, "127.0.0.1", &rcout_addr.sin_addr);
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setup_timer();
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setup_fgear();
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setup_fdm();
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sitl_setup_adc();
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printf("Starting SITL input\n");
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