HAL_SITL: removed old optflow simulation

This commit is contained in:
Andrew Tridgell 2016-11-19 17:21:54 +11:00
parent 42435e700b
commit def6e014cf
4 changed files with 9 additions and 143 deletions

View File

@ -83,7 +83,6 @@ void SITL_State::_sitl_setup(const char *home_str)
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
_terrain = (AP_Terrain *)AP_Param::find_object("TERRAIN_"); _terrain = (AP_Terrain *)AP_Param::find_object("TERRAIN_");
#endif #endif
_optical_flow = (OpticalFlow *)AP_Param::find_object("FLOW");
if (_sitl != nullptr) { if (_sitl != nullptr) {
// setup some initial values // setup some initial values
@ -171,7 +170,6 @@ void SITL_State::_fdm_input_step(void)
_sitl->state.airspeed, _sitl->state.altitude); _sitl->state.airspeed, _sitl->state.altitude);
_update_barometer(_sitl->state.altitude); _update_barometer(_sitl->state.altitude);
_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg); _update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg);
_update_flow();
if (_sitl->adsb_plane_count >= 0 && if (_sitl->adsb_plane_count >= 0 &&
adsb == nullptr) { adsb == nullptr) {
@ -309,6 +307,8 @@ void SITL_State::_fdm_input_local(void)
hal.scheduler->stop_clock(AP_HAL::micros64()+100); hal.scheduler->stop_clock(AP_HAL::micros64()+100);
} }
set_height_agl();
_synthetic_clock_mode = true; _synthetic_clock_mode = true;
_update_count++; _update_count++;
} }
@ -463,9 +463,9 @@ void SITL_State::init(int argc, char * const argv[])
} }
/* /*
return height above the ground in meters set height above the ground in meters
*/ */
float SITL_State::height_agl(void) void SITL_State::set_height_agl(void)
{ {
static float home_alt = -1; static float home_alt = -1;
@ -485,13 +485,14 @@ float SITL_State::height_agl(void)
location.lng = _sitl->state.longitude*1.0e7; location.lng = _sitl->state.longitude*1.0e7;
if (_terrain->height_amsl(location, terrain_height_amsl, false)) { if (_terrain->height_amsl(location, terrain_height_amsl, false)) {
return _sitl->state.altitude - terrain_height_amsl; _sitl->height_agl = _sitl->state.altitude - terrain_height_amsl;
return;
} }
} }
#endif #endif
// fall back to flat earth model // fall back to flat earth model
return _sitl->state.altitude - home_alt; _sitl->height_agl = _sitl->state.altitude - home_alt;
} }
#endif #endif

View File

@ -18,7 +18,6 @@
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h> #include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_Terrain/AP_Terrain.h> #include <AP_Terrain/AP_Terrain.h>
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <SITL/SIM_Gimbal.h> #include <SITL/SIM_Gimbal.h>
@ -83,10 +82,9 @@ private:
void _setup_timer(void); void _setup_timer(void);
void _setup_adc(void); void _setup_adc(void);
float height_agl(void); void set_height_agl(void);
void _update_barometer(float height); void _update_barometer(float height);
void _update_compass(float rollDeg, float pitchDeg, float yawDeg); void _update_compass(float rollDeg, float pitchDeg, float yawDeg);
void _update_flow(void);
void _set_signal_handlers(void) const; void _set_signal_handlers(void) const;
@ -155,7 +153,6 @@ private:
AP_InertialSensor *_ins; AP_InertialSensor *_ins;
Scheduler *_scheduler; Scheduler *_scheduler;
Compass *_compass; Compass *_compass;
OpticalFlow *_optical_flow;
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
AP_Terrain *_terrain; AP_Terrain *_terrain;
#endif #endif

View File

@ -84,7 +84,7 @@ uint16_t SITL_State::_airspeed_sensor(float airspeed)
*/ */
uint16_t SITL_State::_ground_sonar(void) uint16_t SITL_State::_ground_sonar(void)
{ {
float altitude = height_agl(); float altitude = _sitl->height_agl;
// sensor position offset in body frame // sensor position offset in body frame
Vector3f relPosSensorBF = _sitl->rngfnd_pos_offset; Vector3f relPosSensorBF = _sitl->rngfnd_pos_offset;

View File

@ -1,132 +0,0 @@
/*
SITL handling
This simulates a optical flow sensor
Andrew Tridgell November 2011
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_HAL_SITL.h"
using namespace HALSITL;
extern const AP_HAL::HAL& hal;
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <cmath>
#define MAX_OPTFLOW_DELAY 20
static uint8_t next_optflow_index;
static uint8_t optflow_delay;
static OpticalFlow::OpticalFlow_state optflow_data[MAX_OPTFLOW_DELAY];
/*
update the optical flow with new data
*/
void SITL_State::_update_flow(void)
{
Vector3f gyro;
static uint32_t last_flow_ms;
if (!_optical_flow ||
!_sitl->flow_enable) {
return;
}
// update at the requested rate
uint32_t now = AP_HAL::millis();
if (now - last_flow_ms < 1000*(1.0f/_sitl->flow_rate)) {
return;
}
last_flow_ms = now;
gyro(radians(_sitl->state.rollRate),
radians(_sitl->state.pitchRate),
radians(_sitl->state.yawRate));
OpticalFlow::OpticalFlow_state state;
// NED velocity vector in m/s
Vector3f velocity(_sitl->state.speedN,
_sitl->state.speedE,
_sitl->state.speedD);
// a rotation matrix following DCM conventions
Matrix3f rotmat;
rotmat.from_euler(radians(_sitl->state.rollDeg),
radians(_sitl->state.pitchDeg),
radians(_sitl->state.yawDeg));
state.device_id = 1;
state.surface_quality = 51;
// sensor position offset in body frame
Vector3f posRelSensorBF = _sitl->optflow_pos_offset;
// for effiency only do offset correction if offset is non-zero
bool correctForOffset = !posRelSensorBF.is_zero();
// estimate range to centre of image
float range;
if (rotmat.c.z > 0.05f && height_agl() > 0) {
if (!correctForOffset) {
range = height_agl() / rotmat.c.z;
} else {
Vector3f relPosSensorEF = rotmat * posRelSensorBF;
range = (height_agl() - relPosSensorEF.z) / rotmat.c.z;
}
} else {
range = 1e38f;
}
// Calculate relative velocity in sensor frame assuming no misalignment between sensor and vehicle body axes
Vector3f relVelSensor = rotmat.mul_transpose(velocity);
// correct relative velocity for rotation rates and sensor offset
if (correctForOffset) {
relVelSensor += gyro % posRelSensorBF;
}
// Divide velocity by range and add body rates to get predicted sensed angular
// optical rates relative to X and Y sensor axes assuming no misalignment or scale
// factor error. Note - these are instantaneous values. The sensor sums these values across the interval from the last
// poll to provide a delta angle across the interface
state.flowRate.x = -relVelSensor.y/range + gyro.x;
state.flowRate.y = relVelSensor.x/range + gyro.y;
// The flow sensors body rates are assumed to be the same as the vehicle body rates (ie no misalignment)
// Note - these are instantaneous values. The sensor sums these values across the interval from the last
// poll to provide a delta angle across the interface.
state.bodyRate = Vector2f(gyro.x, gyro.y);
optflow_data[next_optflow_index++] = state;
if (next_optflow_index >= optflow_delay+1) {
next_optflow_index = 0;
}
state = optflow_data[next_optflow_index];
if (_sitl->flow_delay != optflow_delay) {
// cope with updates to the delay control
if (_sitl->flow_delay > MAX_OPTFLOW_DELAY) {
_sitl->flow_delay = MAX_OPTFLOW_DELAY;
}
optflow_delay = _sitl->flow_delay;
for (uint8_t i=0; i<optflow_delay; i++) {
optflow_data[i] = state;
}
}
_optical_flow->setHIL(state);
}
#endif