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SITL: moved airspeed pin to pin 1

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keep it separate from the sonar, allowing both to be used at the same time
This commit is contained in:
Andrew Tridgell 2013-11-28 21:43:25 +11:00
parent 339da1c21b
commit b075f8735f
6 changed files with 13 additions and 14 deletions
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3
libraries/AP_HAL_AVR_SITL/AnalogIn.cpp
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@ -34,6 +34,9 @@ float ADCSource::read_latest() {
return 1023; return 1023;
case 0: case 0:
return _sitlState->sonar_pin_value;
case 1:
return _sitlState->airspeed_pin_value; return _sitlState->airspeed_pin_value;
case 12: case 12:

1
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
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@ -58,6 +58,7 @@ struct sockaddr_in SITL_State::_rcout_addr;
pid_t SITL_State::_parent_pid; pid_t SITL_State::_parent_pid;
uint32_t SITL_State::_update_count; uint32_t SITL_State::_update_count;
bool SITL_State::_motors_on; bool SITL_State::_motors_on;
uint16_t SITL_State::sonar_pin_value;
uint16_t SITL_State::airspeed_pin_value; uint16_t SITL_State::airspeed_pin_value;
uint16_t SITL_State::voltage_pin_value; uint16_t SITL_State::voltage_pin_value;
uint16_t SITL_State::current_pin_value; uint16_t SITL_State::current_pin_value;

9
libraries/AP_HAL_AVR_SITL/SITL_State.h
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@ -42,10 +42,11 @@ public:
static void loop_hook(void); static void loop_hook(void);
uint16_t base_port(void) const { return _base_port; } uint16_t base_port(void) const { return _base_port; }
// simulated airspeed // simulated airspeed, sonar and battery monitor
static uint16_t airspeed_pin_value; static uint16_t sonar_pin_value; // pin 0
static uint16_t voltage_pin_value; static uint16_t airspeed_pin_value; // pin 1
static uint16_t current_pin_value; static uint16_t voltage_pin_value; // pin 13
static uint16_t current_pin_value; // pin 12
private: private:
void _parse_command_line(int argc, char * const argv[]); void _parse_command_line(int argc, char * const argv[]);

8
libraries/AP_HAL_AVR_SITL/sitl_ins.cpp
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@ -155,12 +155,8 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
_ins->set_gyro(Vector3f(p, q, r) + _ins->get_gyro_offsets()); _ins->set_gyro(Vector3f(p, q, r) + _ins->get_gyro_offsets());
_ins->set_accel(Vector3f(xAccel, yAccel, zAccel) + _ins->get_accel_offsets()); _ins->set_accel(Vector3f(xAccel, yAccel, zAccel) + _ins->get_accel_offsets());
// Airspeed and Sonar share the same analog pin. Connection type is sonar_pin_value = _ground_sonar(altitude);
// manually selected. Crude.. airspeed_pin_value = _airspeed_sensor(airspeed + (_sitl->aspd_noise * _rand_float()));
if(_sitl->sonar_connected)
airspeed_pin_value = _ground_sonar(altitude);
else
airspeed_pin_value = _airspeed_sensor(airspeed + (_sitl->aspd_noise * _rand_float()));
} }
#endif #endif

5
libraries/SITL/SITL.cpp
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@ -48,9 +48,8 @@ const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("ASPD_RND", 20, SITL, aspd_noise, 0.5), AP_GROUPINFO("ASPD_RND", 20, SITL, aspd_noise, 0.5),
AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0), AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift, 0), AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift, 0),
AP_GROUPINFO("SONAR_CON", 23, SITL, sonar_connected, 0), AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0),
AP_GROUPINFO("SONAR_GLITCH", 24, SITL, sonar_glitch, 0), AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0),
AP_GROUPINFO("SONAR_RND", 25, SITL, sonar_noise, 0),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/SITL/SITL.h
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@ -55,7 +55,6 @@ public:
AP_Float mag_error; // in degrees AP_Float mag_error; // in degrees
AP_Float servo_rate; // servo speed in degrees/second AP_Float servo_rate; // servo speed in degrees/second
AP_Float sonar_connected; // Analogue sonar connected to AnalogPin 0 (else airspeed)
AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance
AP_Float sonar_noise; // in metres AP_Float sonar_noise; // in metres