mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.2 KiB
C++
86 lines
2.2 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 last_letter
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef HAL_SIM_LAST_LETTER_ENABLED
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#define HAL_SIM_LAST_LETTER_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if HAL_SIM_LAST_LETTER_ENABLED
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#include <AP_HAL/utility/Socket_native.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a last_letter simulator
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*/
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class last_letter : public Aircraft {
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public:
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last_letter(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) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return new last_letter(frame_str);
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}
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private:
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static const uint16_t fdm_port = 5002;
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/*
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packet sent to last_letter
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*/
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struct servo_packet {
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uint16_t servos[16];
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};
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/*
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reply packet sent from last_letter to ArduPilot
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*/
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struct fdm_packet {
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uint64_t timestamp_us; // simulation time in microseconds
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double latitude, longitude;
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double altitude;
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double heading;
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double speedN, speedE, speedD;
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double xAccel, yAccel, zAccel;
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double rollRate, pitchRate, yawRate;
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double roll, pitch, yaw;
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double airspeed;
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};
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void recv_fdm(const struct sitl_input &input);
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void send_servos(const struct sitl_input &input);
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void start_last_letter(void);
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uint64_t last_timestamp_us;
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SocketAPM_native sock;
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};
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} // namespace SITL
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#endif // HAL_SIM_LAST_LETTER_ENABLED
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