mirror of https://github.com/ArduPilot/ardupilot
190 lines
7.1 KiB
C++
190 lines
7.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simulator connection for ardupilot version of FlightAxis
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*/
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#pragma once
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a FlightAxis simulator
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*/
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class FlightAxis : public Aircraft {
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public:
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FlightAxis(const char *home_str, const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new FlightAxis(home_str, frame_str);
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}
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struct state {
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double rcin[8];
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double m_airspeed_MPS;
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double m_altitudeASL_MTR;
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double m_altitudeAGL_MTR;
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double m_groundspeed_MPS;
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double m_pitchRate_DEGpSEC;
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double m_rollRate_DEGpSEC;
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double m_yawRate_DEGpSEC;
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double m_azimuth_DEG;
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double m_inclination_DEG;
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double m_roll_DEG;
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double m_aircraftPositionX_MTR;
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double m_aircraftPositionY_MTR;
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double m_velocityWorldU_MPS;
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double m_velocityWorldV_MPS;
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double m_velocityWorldW_MPS;
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double m_velocityBodyU_MPS;
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double m_velocityBodyV_MPS;
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double m_velocityBodyW_MPS;
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double m_accelerationWorldAX_MPS2;
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double m_accelerationWorldAY_MPS2;
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double m_accelerationWorldAZ_MPS2;
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double m_accelerationBodyAX_MPS2;
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double m_accelerationBodyAY_MPS2;
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double m_accelerationBodyAZ_MPS2;
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double m_windX_MPS;
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double m_windY_MPS;
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double m_windZ_MPS;
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double m_propRPM;
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double m_heliMainRotorRPM;
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double m_batteryVoltage_VOLTS;
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double m_batteryCurrentDraw_AMPS;
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double m_batteryRemainingCapacity_MAH;
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double m_fuelRemaining_OZ;
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double m_isLocked;
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double m_hasLostComponents;
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double m_anEngineIsRunning;
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double m_isTouchingGround;
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double m_currentAircraftStatus;
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double m_currentPhysicsTime_SEC;
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double m_currentPhysicsSpeedMultiplier;
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double m_orientationQuaternion_X;
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double m_orientationQuaternion_Y;
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double m_orientationQuaternion_Z;
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double m_orientationQuaternion_W;
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double m_flightAxisControllerIsActive;
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double m_resetButtonHasBeenPressed;
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} state;
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static const uint16_t num_keys = sizeof(state)/sizeof(double);
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struct keytable {
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const char *key;
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double &ref;
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} keytable[num_keys] = {
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{ "item", state.rcin[0] },
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{ "item", state.rcin[1] },
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{ "item", state.rcin[2] },
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{ "item", state.rcin[3] },
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{ "item", state.rcin[4] },
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{ "item", state.rcin[5] },
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{ "item", state.rcin[6] },
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{ "item", state.rcin[7] },
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{ "m-airspeed-MPS", state.m_airspeed_MPS },
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{ "m-altitudeASL-MTR", state.m_altitudeASL_MTR },
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{ "m-altitudeAGL-MTR", state.m_altitudeAGL_MTR },
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{ "m-groundspeed-MPS", state.m_groundspeed_MPS },
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{ "m-pitchRate-DEGpSEC", state.m_pitchRate_DEGpSEC },
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{ "m-rollRate-DEGpSEC", state.m_rollRate_DEGpSEC },
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{ "m-yawRate-DEGpSEC", state.m_yawRate_DEGpSEC },
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{ "m-azimuth-DEG", state.m_azimuth_DEG },
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{ "m-inclination-DEG", state.m_inclination_DEG },
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{ "m-roll-DEG", state.m_roll_DEG },
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{ "m-aircraftPositionX-MTR", state.m_aircraftPositionX_MTR },
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{ "m-aircraftPositionY-MTR", state.m_aircraftPositionY_MTR },
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{ "m-velocityWorldU-MPS", state.m_velocityWorldU_MPS },
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{ "m-velocityWorldV-MPS", state.m_velocityWorldV_MPS },
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{ "m-velocityWorldW-MPS", state.m_velocityWorldW_MPS },
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{ "m-velocityBodyU-MPS", state.m_velocityBodyU_MPS },
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{ "m-velocityBodyV-MPS", state.m_velocityBodyV_MPS },
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{ "m-velocityBodyW-MPS", state.m_velocityBodyW_MPS },
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{ "m-accelerationWorldAX-MPS2", state.m_accelerationWorldAX_MPS2 },
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{ "m-accelerationWorldAY-MPS2", state.m_accelerationWorldAY_MPS2 },
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{ "m-accelerationWorldAZ-MPS2", state.m_accelerationWorldAZ_MPS2 },
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{ "m-accelerationBodyAX-MPS2", state.m_accelerationBodyAX_MPS2 },
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{ "m-accelerationBodyAY-MPS2", state.m_accelerationBodyAY_MPS2 },
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{ "m-accelerationBodyAZ-MPS2", state.m_accelerationBodyAZ_MPS2 },
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{ "m-windX-MPS", state.m_windX_MPS },
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{ "m-windY-MPS", state.m_windY_MPS },
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{ "m-windZ-MPS", state.m_windZ_MPS },
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{ "m-propRPM", state.m_propRPM },
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{ "m-heliMainRotorRPM", state.m_heliMainRotorRPM },
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{ "m-batteryVoltage-VOLTS", state.m_batteryVoltage_VOLTS },
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{ "m-batteryCurrentDraw-AMPS", state.m_batteryCurrentDraw_AMPS },
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{ "m-batteryRemainingCapacity-MAH", state.m_batteryRemainingCapacity_MAH },
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{ "m-fuelRemaining-OZ", state.m_fuelRemaining_OZ },
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{ "m-isLocked", state.m_isLocked },
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{ "m-hasLostComponents", state.m_hasLostComponents },
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{ "m-anEngineIsRunning", state.m_anEngineIsRunning },
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{ "m-isTouchingGround", state.m_isTouchingGround },
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{ "m-currentAircraftStatus", state.m_currentAircraftStatus },
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{ "m-currentPhysicsTime-SEC", state.m_currentPhysicsTime_SEC },
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{ "m-currentPhysicsSpeedMultiplier", state.m_currentPhysicsSpeedMultiplier },
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{ "m-orientationQuaternion-X", state.m_orientationQuaternion_X },
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{ "m-orientationQuaternion-Y", state.m_orientationQuaternion_Y },
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{ "m-orientationQuaternion-Z", state.m_orientationQuaternion_Z },
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{ "m-orientationQuaternion-W", state.m_orientationQuaternion_W },
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{ "m-flightAxisControllerIsActive", state.m_flightAxisControllerIsActive },
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{ "m-resetButtonHasBeenPressed", state.m_resetButtonHasBeenPressed },
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};
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private:
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char *soap_request(const char *action, const char *fmt, ...);
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void exchange_data(const struct sitl_input &input);
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void parse_reply(const char *reply);
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static void *update_thread(void *arg);
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void update_loop(void);
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void report_FPS(void);
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struct sitl_input last_input;
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double average_frame_time_s;
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double extrapolated_s;
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double initial_time_s;
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double last_time_s;
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bool heli_demix;
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bool rev4_servos;
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bool controller_started;
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uint64_t frame_counter;
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uint64_t activation_frame_counter;
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uint64_t socket_frame_counter;
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uint64_t last_socket_frame_counter;
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double last_frame_count_s;
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Vector3f position_offset;
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Vector3f last_velocity_ef;
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const char *controller_ip = "127.0.0.1";
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uint16_t controller_port = 18083;
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pthread_t thread;
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AP_HAL::Semaphore *mutex;
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};
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} // namespace SITL
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