mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
/*
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SITL handling
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This simulates a barometer
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Andrew Tridgell November 2011
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_HAL_SITL.h"
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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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 <stdint.h>
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#include <math.h>
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/*
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setup the barometer with new input
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altitude is in meters
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*/
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void SITL_State::_update_barometer(float altitude)
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{
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static uint32_t last_update;
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float sim_alt = altitude;
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if (_barometer == NULL) {
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// this sketch doesn't use a barometer
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return;
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}
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if (_sitl->baro_disable) {
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// barometer is disabled
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return;
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}
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// 80Hz
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uint32_t now = hal.scheduler->millis();
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if ((now - last_update) < 12) {
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return;
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}
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last_update = now;
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sim_alt += _sitl->baro_drift * now / 1000;
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sim_alt += _sitl->baro_noise * _rand_float();
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// add baro glitch
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sim_alt += _sitl->baro_glitch;
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// add delay
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uint32_t best_time_delta_baro = 200; // initialise large time representing buffer entry closest to current time - delay.
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uint8_t best_index_baro = 0; // initialise number representing the index of the entry in buffer closest to delay.
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// storing data from sensor to buffer
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if (now - last_store_time_baro >= 10) { // store data every 10 ms.
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last_store_time_baro = now;
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if (store_index_baro > baro_buffer_length-1) { // reset buffer index if index greater than size of buffer
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store_index_baro = 0;
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}
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buffer_baro[store_index_baro].data = sim_alt; // add data to current index
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buffer_baro[store_index_baro].time = last_store_time_baro; // add time_stamp_baro to current index
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store_index_baro = store_index_baro + 1; // increment index
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}
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// return delayed measurement
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delayed_time_baro = now - _sitl->baro_delay; // get time corresponding to delay
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// find data corresponding to delayed time in buffer
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for (uint8_t i=0; i<=baro_buffer_length-1; i++) {
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time_delta_baro = abs(delayed_time_baro - buffer_baro[i].time); // find difference between delayed time and time stamp in buffer
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// if this difference is smaller than last delta, store this time
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if (time_delta_baro < best_time_delta_baro) {
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best_index_baro = i;
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best_time_delta_baro = time_delta_baro;
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}
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}
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if (best_time_delta_baro < 200) { // only output stored state if < 200 msec retrieval error
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sim_alt = buffer_baro[best_index_baro].data;
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}
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_barometer->setHIL(sim_alt);
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}
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#endif
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