ardupilot/libraries/SITL/SIM_Aircraft.h

277 lines
8.1 KiB
C++

/*
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 <http://www.gnu.org/licenses/>.
*/
/*
parent class for aircraft simulators
*/
#pragma once
#include <AP_Math/AP_Math.h>
#include "SITL.h"
#include "SITL_Input.h"
#include <AP_Terrain/AP_Terrain.h>
#include "SIM_Sprayer.h"
#include "SIM_Gripper_Servo.h"
#include "SIM_Gripper_EPM.h"
#include "SIM_Parachute.h"
#include "SIM_Precland.h"
#include <Filter/Filter.h>
namespace SITL {
/*
parent class for all simulator types
*/
class Aircraft {
public:
Aircraft(const char *home_str, const char *frame_str);
/*
set simulation speedup
*/
void set_speedup(float speedup);
/*
set instance number
*/
void set_instance(uint8_t _instance) {
instance = _instance;
}
/*
set directory for additional files such as aircraft models
*/
void set_autotest_dir(const char *_autotest_dir) {
autotest_dir = _autotest_dir;
}
/* Create and set in/out socket for extenal simulator */
virtual void set_interface_ports(const char* address, const int port_in, const int port_out) {};
/*
step the FDM by one time step
*/
virtual void update(const struct sitl_input &input) = 0;
/* fill a sitl_fdm structure from the simulator state */
void fill_fdm(struct sitl_fdm &fdm);
/* smooth sensors to provide kinematic consistancy */
void smooth_sensors(void);
/* return normal distribution random numbers */
static double rand_normal(double mean, double stddev);
/* parse a home location string */
static bool parse_home(const char *home_str, Location &loc, float &yaw_degrees);
// get frame rate of model in Hz
float get_rate_hz(void) const { return rate_hz; }
const Vector3f &get_gyro(void) const {
return gyro;
}
const Vector3f &get_velocity_ef(void) const {
return velocity_ef;
}
const Vector3f &get_velocity_air_ef(void) const {
return velocity_air_ef;
}
const Matrix3f &get_dcm(void) const {
return dcm;
}
const Vector3f &get_mag_field_bf(void) const {
return mag_bf;
}
float gross_mass() const { return mass + external_payload_mass; }
const Location &get_location() const { return location; }
const Vector3f &get_position() const { return position; }
void get_attitude(Quaternion &attitude) const {
attitude.from_rotation_matrix(dcm);
}
const Location &get_home() const { return home; }
float get_home_yaw() const { return home_yaw; }
void set_sprayer(Sprayer *_sprayer) { sprayer = _sprayer; }
void set_parachute(Parachute *_parachute) { parachute = _parachute; }
void set_gripper_servo(Gripper_Servo *_gripper) { gripper = _gripper; }
void set_gripper_epm(Gripper_EPM *_gripper_epm) { gripper_epm = _gripper_epm; }
void set_precland(SIM_Precland *_precland);
protected:
SITL *sitl;
Location home;
Location location;
float ground_level;
float home_yaw;
float frame_height;
Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
Vector3f gyro; // rad/s
Vector3f gyro_prev; // rad/s
Vector3f ang_accel; // rad/s/s
Vector3f velocity_ef; // m/s, earth frame
Vector3f wind_ef; // m/s, earth frame
Vector3f velocity_air_ef; // velocity relative to airmass, earth frame
Vector3f velocity_air_bf; // velocity relative to airmass, body frame
Vector3f position; // meters, NED from origin
float mass; // kg
float external_payload_mass = 0.0f; // kg
Vector3f accel_body; // m/s/s NED, body frame
float airspeed; // m/s, apparent airspeed
float airspeed_pitot; // m/s, apparent airspeed, as seen by fwd pitot tube
float battery_voltage = -1.0f;
float battery_current = 0.0f;
float rpm1 = 0;
float rpm2 = 0;
uint8_t rcin_chan_count = 0;
float rcin[8];
float range = -1.0f; // rangefinder detection in m
struct {
// data from simulated laser scanner, if available
struct vector3f_array points;
struct float_array ranges;
} scanner;
// Wind Turbulence simulated Data
float turbulence_azimuth = 0.0f;
float turbulence_horizontal_speed = 0.0f; // m/s
float turbulence_vertical_speed = 0.0f; // m/s
Vector3f mag_bf; // local earth magnetic field vector in Gauss, earth frame
uint64_t time_now_us;
const float gyro_noise;
const float accel_noise;
float rate_hz;
float achieved_rate_hz;
float target_speedup;
uint64_t frame_time_us;
float scaled_frame_time_us;
uint64_t last_wall_time_us;
uint8_t instance;
const char *autotest_dir;
const char *frame;
bool use_time_sync = true;
float last_speedup = -1.0f;
// allow for AHRS_ORIENTATION
AP_Int8 *ahrs_orientation;
enum GroundBehaviour {
GROUND_BEHAVIOR_NONE = 0,
GROUND_BEHAVIOR_NO_MOVEMENT,
GROUND_BEHAVIOR_FWD_ONLY,
GROUND_BEHAVIOR_TAILSITTER,
} ground_behavior;
bool use_smoothing;
AP_Terrain *terrain;
float ground_height_difference() const;
const float FEET_TO_METERS = 0.3048f;
const float KNOTS_TO_METERS_PER_SECOND = 0.51444f;
virtual bool on_ground() const;
// returns height above ground level in metres
float hagl() const; // metres
/* update location from position */
void update_position(void);
/* update body frame magnetic field */
void update_mag_field_bf(void);
/* advance time by deltat in seconds */
void time_advance();
/* setup the frame step time */
void setup_frame_time(float rate, float speedup);
/* adjust frame_time calculation */
void adjust_frame_time(float rate);
/* try to synchronise simulation time with wall clock time, taking
into account desired speedup */
void sync_frame_time(void);
/* add noise based on throttle level (from 0..1) */
void add_noise(float throttle);
/* return wall clock time in microseconds since 1970 */
uint64_t get_wall_time_us(void) const;
// update attitude and relative position
void update_dynamics(const Vector3f &rot_accel);
// update wind vector
void update_wind(const struct sitl_input &input);
// return filtered servo input as -1 to 1 range
float filtered_idx(float v, uint8_t idx);
float filtered_servo_angle(const struct sitl_input &input, uint8_t idx);
float filtered_servo_range(const struct sitl_input &input, uint8_t idx);
// extrapolate sensors by a given delta time in seconds
void extrapolate_sensors(float delta_time);
// update external payload/sensor dynamic
void update_external_payload(const struct sitl_input &input);
void add_shove_forces(Vector3f &rot_accel, Vector3f &body_accel);
void add_twist_forces(Vector3f &rot_accel);
private:
uint64_t last_time_us = 0;
uint32_t frame_counter = 0;
uint32_t last_ground_contact_ms;
const uint32_t min_sleep_time;
struct {
bool enabled;
Vector3f accel_body;
Vector3f gyro;
Matrix3f rotation_b2e;
Vector3f position;
Vector3f velocity_ef;
uint64_t last_update_us;
Location location;
} smoothing;
LowPassFilterFloat servo_filter[4];
Sprayer *sprayer;
Gripper_Servo *gripper;
Gripper_EPM *gripper_epm;
Parachute *parachute;
SIM_Precland *precland;
};
} // namespace SITL