/// -*- 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 . */ /* SITL.cpp - software in the loop state */ #include #include #include #include extern const AP_HAL::HAL& hal; // table of user settable parameters const AP_Param::GroupInfo SITL::var_info[] PROGMEM = { AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise, 3), AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 30), AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 3), AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise, 10), AP_GROUPINFO("GPS_DISABLE",4, SITL, gps_disable, 0), AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed, 0.2), AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5), AP_GROUPINFO("GPS_DELAY", 7, SITL, gps_delay, 2), AP_GROUPINFO("ENGINE_MUL", 8, SITL, engine_mul, 1), AP_GROUPINFO("WIND_SPD", 9, SITL, wind_speed, 0), AP_GROUPINFO("WIND_DIR", 10, SITL, wind_direction, 180), AP_GROUPINFO("WIND_TURB", 11, SITL, wind_turbulance, 0.2), AP_GROUPINFO("GPS_TYPE", 12, SITL, gps_type, SITL::GPS_TYPE_UBLOX), AP_GROUPINFO("GPS_BYTELOSS", 13, SITL, gps_byteloss, 0), AP_GROUPINFO("GPS_NUMSATS", 14, SITL, gps_numsats, 10), AP_GROUPINFO("MAG_ERROR", 15, SITL, mag_error, 0), AP_GROUPINFO("SERVO_RATE", 16, SITL, servo_rate, 0), AP_GROUPINFO("GPS_GLITCH", 17, SITL, gps_glitch, 0), AP_GROUPINFO("GPS_HZ", 18, SITL, gps_hertz, 5), AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6), AP_GROUPINFO("ASPD_RND", 20, SITL, aspd_noise, 0.5), AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0), AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift, 0), AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0), AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0), AP_GROUPINFO("RC_FAIL", 25, SITL, rc_fail, 0), AP_GROUPINFO("GPS2_ENABLE", 26, SITL, gps2_enable, 0), AP_GROUPINFO("BARO_DISABLE", 27, SITL, baro_disable, 0), AP_GROUPINFO("FLOAT_EXCEPT", 28, SITL, float_exception, 1), AP_GROUPINFO("MAG_MOT", 29, SITL, mag_mot, 0), AP_GROUPEND }; /* report SITL state via MAVLink */ void SITL::simstate_send(mavlink_channel_t chan) { double p, q, r; float yaw; // we want the gyro values to be directly comparable to the // raw_imu message, which is in body frame convert_body_frame(state.rollDeg, state.pitchDeg, state.rollRate, state.pitchRate, state.yawRate, &p, &q, &r); // convert to same conventions as DCM yaw = state.yawDeg; if (yaw > 180) { yaw -= 360; } mavlink_msg_simstate_send(chan, ToRad(state.rollDeg), ToRad(state.pitchDeg), ToRad(yaw), state.xAccel, state.yAccel, state.zAccel, p, q, r, state.latitude*1.0e7, state.longitude*1.0e7); } /* report SITL state to DataFlash */ void SITL::Log_Write_SIMSTATE(DataFlash_Class &DataFlash) { double p, q, r; float yaw; // we want the gyro values to be directly comparable to the // raw_imu message, which is in body frame convert_body_frame(state.rollDeg, state.pitchDeg, state.rollRate, state.pitchRate, state.yawRate, &p, &q, &r); // convert to same conventions as DCM yaw = state.yawDeg; if (yaw > 180) { yaw -= 360; } struct log_AHRS pkt = { LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG), time_ms : hal.scheduler->millis(), roll : (int16_t)(state.rollDeg*100), pitch : (int16_t)(state.pitchDeg*100), yaw : (uint16_t)(wrap_360_cd(yaw*100)), alt : (float)state.altitude, lat : (int32_t)(state.latitude*1.0e7), lng : (int32_t)(state.longitude*1.0e7) }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); } // convert a set of roll rates from earth frame to body frame void SITL::convert_body_frame(double rollDeg, double pitchDeg, double rollRate, double pitchRate, double yawRate, double *p, double *q, double *r) { double phi, theta, phiDot, thetaDot, psiDot; phi = ToRad(rollDeg); theta = ToRad(pitchDeg); phiDot = ToRad(rollRate); thetaDot = ToRad(pitchRate); psiDot = ToRad(yawRate); *p = phiDot - psiDot*sinf(theta); *q = cosf(phi)*thetaDot + sinf(phi)*psiDot*cosf(theta); *r = cosf(phi)*psiDot*cosf(theta) - sinf(phi)*thetaDot; }