mirror of https://github.com/ArduPilot/ardupilot
ArduCopter: remove HIL support
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
a23999d0f0
commit
cdbf6d216e
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@ -54,8 +54,6 @@
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// other settings
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//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
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//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation
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// User Hooks : For User Developed code that you wish to run
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// Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
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//#define USERHOOK_VARIABLES "UserVariables.h"
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@ -1,28 +0,0 @@
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// HIL_MODE SELECTION
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//
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// Mavlink supports
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// 1. HIL_MODE_SENSORS: full sensor simulation
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#define HIL_MODE HIL_MODE_SENSORS
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// HIL_PORT SELECTION
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//
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// PORT 1
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// If you would like to run telemetry communications for a groundstation
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// while you are running hardware in the loop it is necessary to set
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// HIL_PORT to 1. This uses the port that would have been used for the gps
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// as the hardware in the loop port. You will have to solder
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// headers onto the gps port connection on the apm
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// and connect via an ftdi cable.
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//
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// The baud rate is set to 115200 in this mode.
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//
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// PORT 3
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// If you don't require telemetry communication with a gcs while running
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// hardware in the loop you may use the telemetry port as the hardware in
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// the loop port. Alternatively, use a telemetry/HIL shim like FGShim
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// https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
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//
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// The buad rate is controlled by SERIAL1_BAUD in this mode.
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#define HIL_PORT 3
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@ -801,7 +801,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
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AP::notify().update();
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}
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#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
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#endif
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@ -895,7 +895,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
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return false;
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}
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#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
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#endif
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@ -447,12 +447,6 @@ void Copter::ten_hz_logging_loop()
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// twentyfive_hz_logging - should be run at 25hz
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void Copter::twentyfive_hz_logging()
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{
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#if HIL_MODE != HIL_MODE_DISABLED
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// HIL for a copter needs very fast update of the servo values
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gcs().send_message(MSG_SERVO_OUTPUT_RAW);
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#endif
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#if HIL_MODE == HIL_MODE_DISABLED
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if (should_log(MASK_LOG_ATTITUDE_FAST)) {
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Log_Write_EKF_POS();
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}
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@ -460,7 +454,6 @@ void Copter::twentyfive_hz_logging()
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if (should_log(MASK_LOG_IMU)) {
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AP::ins().Write_IMU();
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}
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#endif
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#if MODE_AUTOROTATE_ENABLED == ENABLED
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if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
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@ -602,13 +595,6 @@ void Copter::update_super_simple_bearing(bool force_update)
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void Copter::read_AHRS(void)
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{
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// Perform IMU calculations and get attitude info
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//-----------------------------------------------
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before ahrs update
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gcs().update();
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#endif
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// we tell AHRS to skip INS update as we have already done it in fast_loop()
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ahrs.update(true);
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}
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@ -55,10 +55,6 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
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// override if stick mixing is enabled
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_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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#if HIL_MODE != HIL_MODE_DISABLED
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_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
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#endif
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// we are armed if we are not initialising
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if (copter.motors != nullptr && copter.motors->armed()) {
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_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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@ -372,8 +368,8 @@ const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 0),
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// @Param: RAW_CTRL
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// @DisplayName: Raw Control stream rate to ground station
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// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
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// @DisplayName: Unused
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// @Description: Unused
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// @Units: Hz
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// @Range: 0 50
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// @Increment: 1
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@ -1253,53 +1249,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
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}
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED
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case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90
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{
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mavlink_hil_state_t packet;
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mavlink_msg_hil_state_decode(&msg, &packet);
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// sanity check location
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if (!check_latlng(packet.lat, packet.lon)) {
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break;
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}
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// set gps hil sensor
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Location loc;
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loc.lat = packet.lat;
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loc.lng = packet.lon;
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loc.alt = packet.alt/10;
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Vector3f vel(packet.vx, packet.vy, packet.vz);
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vel *= 0.01f;
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gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
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packet.time_usec/1000,
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loc, vel, 10, 0);
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// rad/sec
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Vector3f gyros;
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gyros.x = packet.rollspeed;
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gyros.y = packet.pitchspeed;
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gyros.z = packet.yawspeed;
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// m/s/s
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Vector3f accels;
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accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
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accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
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accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
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ins.set_gyro(0, gyros);
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ins.set_accel(0, accels);
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AP::baro().setHIL(packet.alt*0.001f);
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copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
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copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
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break;
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}
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#endif // HIL_MODE != HIL_MODE_DISABLED
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case MAVLINK_MSG_ID_RADIO:
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case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
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{
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@ -39,13 +39,6 @@
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#error CONFIG_HAL_BOARD must be defined to build ArduCopter
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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#ifndef HIL_MODE
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#define HIL_MODE HIL_MODE_DISABLED
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#endif
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#ifndef ARMING_DELAY_SEC
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# define ARMING_DELAY_SEC 2.0f
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#endif
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@ -27,10 +27,6 @@ enum autopilot_yaw_mode {
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#define MULTICOPTER_FRAME 1
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#define HELI_FRAME 2
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_SENSORS 1
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// Tuning enumeration
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enum tuning_func {
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TUNING_NONE = 0, //
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@ -142,18 +142,6 @@ void Copter::init_ardupilot()
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USERHOOK_INIT
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED
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while (barometer.get_last_update() == 0) {
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// the barometer begins updating when we get the first
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// HIL_STATE message
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gcs().send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
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delay(1000);
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}
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// set INS to HIL mode
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ins.set_hil_mode();
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#endif
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// read Baro pressure at ground
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//-----------------------------
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barometer.set_log_baro_bit(MASK_LOG_IMU);
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