mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.6 KiB
C++
132 lines
3.6 KiB
C++
/*
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SITL handling
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This emulates the ADS7844 ADC
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Andrew Tridgell November 2011
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/types.h>
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#include <math.h>
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#include <AP_DCM.h>
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#include <AP_ADC.h>
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#include "wiring.h"
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#include "sitl_adc.h"
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#include "desktop.h"
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#include "util.h"
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/*
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convert airspeed in m/s to an airspeed sensor value
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*/
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static uint16_t airspeed_sensor(float airspeed)
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{
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const float airspeed_ratio = 1.9936;
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const float airspeed_offset = 2820;
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float airspeed_pressure, airspeed_raw;
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airspeed_pressure = sqr(airspeed) / airspeed_ratio;
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airspeed_raw = airspeed_pressure + airspeed_offset;
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return airspeed_raw;
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}
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/*
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setup the ADC channels with new input
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Note that this uses roll, pitch and yaw only as inputs. The
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simulator rollrates are instantaneous, whereas we need to use
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average rates to cope with slow update rates.
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inputs are in degrees
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*/
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void sitl_update_adc(float roll, float pitch, float yaw,
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float rollRate, float pitchRate, float yawRate,
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float xAccel, float yAccel, float zAccel,
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float airspeed)
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{
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static const uint8_t sensor_map[6] = { 1, 2, 0, 4, 5, 6 };
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static const float _sensor_signs[6] = { 1, -1, -1, 1, -1, -1 };
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const float accel_offset = 2041;
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const float gyro_offset = 1658;
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#define ToRad(x) (x*0.01745329252) // *pi/180
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const float _gyro_gain_x = ToRad(0.4);
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const float _gyro_gain_y = ToRad(0.41);
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const float _gyro_gain_z = ToRad(0.41);
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const float _accel_scale = 9.80665 / 423.8;
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float adc[7];
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float phi, theta, phiDot, thetaDot, psiDot;
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float p, q, r;
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/* convert the angular velocities from earth frame to
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body frame. Thanks to James Goppert for the formula
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*/
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phi = ToRad(roll);
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theta = ToRad(pitch);
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phiDot = ToRad(rollRate);
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thetaDot = ToRad(pitchRate);
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psiDot = ToRad(yawRate);
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p = phiDot - psiDot*sin(theta);
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q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta);
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r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot;
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/* work out the ADC channel values */
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adc[0] = (p / (_gyro_gain_x * _sensor_signs[0])) + gyro_offset;
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adc[1] = (q / (_gyro_gain_y * _sensor_signs[1])) + gyro_offset;
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adc[2] = (r / (_gyro_gain_z * _sensor_signs[2])) + gyro_offset;
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adc[3] = (xAccel / (_accel_scale * _sensor_signs[3])) + accel_offset;
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adc[4] = (yAccel / (_accel_scale * _sensor_signs[4])) + accel_offset;
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adc[5] = (zAccel / (_accel_scale * _sensor_signs[5])) + accel_offset;
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/* tell the UDR2 register emulation what values to give to the driver */
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for (uint8_t i=0; i<6; i++) {
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UDR2.set(sensor_map[i], adc[i]);
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}
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runInterrupt(6);
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// set the airspeed sensor input
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UDR2.set(7, airspeed_sensor(airspeed));
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/* FIX: rubbish value for temperature for now */
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UDR2.set(3, 2000);
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#if 0
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extern AP_DCM_HIL dcm;
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dcm.setHil(ToRad(roll), ToRad(pitch), ToRad(yaw),
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ToRad(rollRate), ToRad(pitchRate), ToRad(yawRate));
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#endif
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static uint32_t last_report;
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uint32_t tnow = millis();
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extern AP_DCM dcm;
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Vector3f omega = dcm.get_gyro();
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// report roll/pitch discrepancies
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if (tnow - last_report > 5000 ||
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(tnow - last_report > 1000 &&
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(fabs(roll - dcm.roll_sensor/100.0) > 5.0 ||
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fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) {
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last_report = tnow;
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printf("roll=%5.1f / %5.1f pitch=%5.1f / %5.1f rr=%5.2f / %5.2f pr=%5.2f / %5.2f\n",
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roll, dcm.roll_sensor/100.0,
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pitch, dcm.pitch_sensor/100.0,
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rollRate, ToDeg(omega.x),
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pitchRate, ToDeg(omega.y));
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}
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}
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/*
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setup ADC emulation
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*/
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void sitl_setup_adc(void)
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{
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// mark it always ready. This is the register
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// the ADC driver uses to tell if there is new data pending
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UCSR2A = (1 << RXC2);
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}
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