mirror of https://github.com/ArduPilot/ardupilot
293 lines
7.4 KiB
C++
293 lines
7.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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parent class for aircraft simulators
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_Common.h>
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#include "SIM_Aircraft.h"
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#include <unistd.h>
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#include <sys/time.h>
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#include <stdio.h>
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#ifdef __CYGWIN__
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#include <windows.h>
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#include <time.h>
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#include <Mmsystem.h>
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#endif
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/*
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parent class for all simulator types
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*/
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/*
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constructor
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*/
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Aircraft::Aircraft(const char *home_str, const char *frame_str) :
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ground_level(0),
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frame_height(0),
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dcm(),
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gyro(),
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velocity_ef(),
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mass(0),
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accel_body(0, 0, -GRAVITY_MSS),
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time_now_us(0),
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gyro_noise(radians(0.1f)),
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accel_noise(0.3),
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rate_hz(400),
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autotest_dir(NULL),
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#ifdef __CYGWIN__
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min_sleep_time(20000)
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#else
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min_sleep_time(5000)
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#endif
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{
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char *saveptr=NULL;
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char *s = strdup(home_str);
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char *lat_s = strtok_r(s, ",", &saveptr);
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char *lon_s = strtok_r(NULL, ",", &saveptr);
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char *alt_s = strtok_r(NULL, ",", &saveptr);
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char *yaw_s = strtok_r(NULL, ",", &saveptr);
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memset(&home, 0, sizeof(home));
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home.lat = atof(lat_s) * 1.0e7;
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home.lng = atof(lon_s) * 1.0e7;
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home.alt = atof(alt_s) * 1.0e2;
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location = home;
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ground_level = home.alt*0.01;
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dcm.from_euler(0, 0, radians(atof(yaw_s)));
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free(s);
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set_speedup(1);
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last_wall_time_us = get_wall_time_us();
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frame_counter = 0;
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}
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/*
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return true if we are on the ground
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*/
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bool Aircraft::on_ground(const Vector3f &pos) const
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{
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return (-pos.z) + home.alt*0.01f <= ground_level + frame_height;
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}
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/*
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update location from position
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*/
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void Aircraft::update_position(void)
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{
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float bearing = degrees(atan2f(position.y, position.x));
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float distance = sqrtf(sq(position.x) + sq(position.y));
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location = home;
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location_update(location, bearing, distance);
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location.alt = home.alt - position.z*100.0f;
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// we only advance time if it hasn't been advanced already by the
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// backend
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if (last_time_us == time_now_us) {
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time_now_us += frame_time_us;
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}
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last_time_us = time_now_us;
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sync_frame_time();
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}
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/*
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rotate to the given yaw
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*/
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void Aircraft::set_yaw_degrees(float yaw_degrees)
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{
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float roll, pitch, yaw;
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dcm.to_euler(&roll, &pitch, &yaw);
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yaw = radians(yaw_degrees);
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dcm.from_euler(roll, pitch, yaw);
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}
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/* advance time by deltat in seconds */
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void Aircraft::time_advance(float deltat)
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{
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time_now_us += deltat * 1.0e6f;
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}
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/* setup the frame step time */
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void Aircraft::setup_frame_time(float new_rate, float new_speedup)
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{
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rate_hz = new_rate;
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target_speedup = new_speedup;
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frame_time_us = 1.0e6f/rate_hz;
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scaled_frame_time_us = frame_time_us/target_speedup;
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last_wall_time_us = get_wall_time_us();
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achieved_rate_hz = rate_hz;
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}
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/* adjust frame_time calculation */
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void Aircraft::adjust_frame_time(float new_rate)
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{
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if (rate_hz != new_rate) {
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rate_hz = new_rate;
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frame_time_us = 1.0e6f/rate_hz;
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scaled_frame_time_us = frame_time_us/target_speedup;
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}
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}
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/*
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try to synchronise simulation time with wall clock time, taking
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into account desired speedup
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This tries to take account of possible granularity of
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get_wall_time_us() so it works reasonably well on windows
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*/
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void Aircraft::sync_frame_time(void)
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{
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frame_counter++;
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uint64_t now = get_wall_time_us();
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if (frame_counter >= 40 &&
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now > last_wall_time_us) {
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float rate = frame_counter * 1.0e6f/(now - last_wall_time_us);
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achieved_rate_hz = (0.99f*achieved_rate_hz) + (0.01f*rate);
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if (achieved_rate_hz < rate_hz * target_speedup) {
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scaled_frame_time_us *= 0.999f;
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} else {
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scaled_frame_time_us /= 0.999f;
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}
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#if 0
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::printf("achieved_rate_hz=%.3f rate=%.2f rate_hz=%.3f sft=%.1f\n",
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(double)achieved_rate_hz,
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(double)rate,
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(double)rate_hz,
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(double)scaled_frame_time_us);
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#endif
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uint32_t sleep_time = scaled_frame_time_us*frame_counter;
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if (sleep_time > min_sleep_time) {
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usleep(sleep_time);
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}
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last_wall_time_us = now;
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frame_counter = 0;
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}
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}
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/* add noise based on throttle level (from 0..1) */
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void Aircraft::add_noise(float throttle)
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{
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gyro += Vector3f(rand_normal(0, 1),
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rand_normal(0, 1),
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rand_normal(0, 1)) * gyro_noise * throttle;
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accel_body += Vector3f(rand_normal(0, 1),
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rand_normal(0, 1),
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rand_normal(0, 1)) * accel_noise * throttle;
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}
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/*
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normal distribution random numbers
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See
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http://en.literateprograms.org/index.php?title=Special:DownloadCode/Box-Muller_transform_%28C%29&oldid=7011
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*/
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double Aircraft::rand_normal(double mean, double stddev)
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{
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static double n2 = 0.0;
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static int n2_cached = 0;
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if (!n2_cached)
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{
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double x, y, r;
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do
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{
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x = 2.0*rand()/RAND_MAX - 1;
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y = 2.0*rand()/RAND_MAX - 1;
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r = x*x + y*y;
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}
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while (r == 0.0 || r > 1.0);
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{
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double d = sqrt(-2.0*log(r)/r);
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double n1 = x*d;
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n2 = y*d;
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double result = n1*stddev + mean;
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n2_cached = 1;
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return result;
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}
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}
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else
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{
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n2_cached = 0;
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return n2*stddev + mean;
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}
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}
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/*
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fill a sitl_fdm structure from the simulator state
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*/
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void Aircraft::fill_fdm(struct sitl_fdm &fdm) const
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{
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fdm.timestamp_us = time_now_us;
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fdm.latitude = location.lat * 1.0e-7;
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fdm.longitude = location.lng * 1.0e-7;
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fdm.altitude = location.alt * 1.0e-2;
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fdm.heading = degrees(atan2f(velocity_ef.y, velocity_ef.x));
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fdm.speedN = velocity_ef.x;
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fdm.speedE = velocity_ef.y;
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fdm.speedD = velocity_ef.z;
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fdm.xAccel = accel_body.x;
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fdm.yAccel = accel_body.y;
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fdm.zAccel = accel_body.z;
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fdm.rollRate = degrees(gyro.x);
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fdm.pitchRate = degrees(gyro.y);
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fdm.yawRate = degrees(gyro.z);
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float r, p, y;
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dcm.to_euler(&r, &p, &y);
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fdm.rollDeg = degrees(r);
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fdm.pitchDeg = degrees(p);
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fdm.yawDeg = degrees(y);
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fdm.airspeed = airspeed;
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fdm.magic = 0x4c56414f;
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}
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uint64_t Aircraft::get_wall_time_us() const
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{
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#ifdef __CYGWIN__
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static DWORD tPrev;
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static uint64_t last_ret_us;
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if (tPrev == 0) {
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tPrev = timeGetTime();
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return 0;
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}
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DWORD now = timeGetTime();
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last_ret_us += (uint64_t)((now - tPrev)*1000UL);
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tPrev = now;
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return last_ret_us;
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#else
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struct timeval tp;
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gettimeofday(&tp,NULL);
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return tp.tv_sec*1.0e6 + tp.tv_usec;
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#endif
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}
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/*
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set simulation speedup
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*/
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void Aircraft::set_speedup(float speedup)
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{
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setup_frame_time(rate_hz, speedup);
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}
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#endif // CONFIG_HAL_BOARD
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