mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.9 KiB
C++
115 lines
3.9 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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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_Beacon_SITL.h"
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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#define NUM_BEACONS 4
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/*
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* Define a rectangular pattern of beacons with the pattern centroid located at the beacon origin as defined by the following params:
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*
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* BCN_ALT - Height above the WGS-84 geoid (m)
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* BCN_LATITUDE - WGS-84 latitude (deg)
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* BCN_LONGITUDE - WGS-84 longitude (deg)
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*
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* The spacing between beacons in the North/South and East/West directions is defined by the following parameters:
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*/
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#define BEACON_SPACING_NORTH 10.0
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#define BEACON_SPACING_EAST 20.0
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// The centroid of the pattern can be moved using using the following parameters:
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#define ORIGIN_OFFSET_NORTH 2.5 // shifts beacon pattern centroid North (m)
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#define ORIGIN_OFFSET_EAST 5.0 // shifts beacon pattern centroid East (m)
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// constructor
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AP_Beacon_SITL::AP_Beacon_SITL(AP_Beacon &frontend) :
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AP_Beacon_Backend(frontend)
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{
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sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
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}
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// return true if sensor is basically healthy (we are receiving data)
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bool AP_Beacon_SITL::healthy()
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{
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// healthy if we have parsed a message within the past 300ms
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return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS);
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}
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// update the state of the sensor
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void AP_Beacon_SITL::update(void)
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{
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uint32_t now = AP_HAL::millis();
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if (now - last_update_ms < 10) {
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return;
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}
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uint8_t beacon_id = next_beacon;
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next_beacon = (next_beacon+1) % NUM_BEACONS;
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// truth location of the flight vehicle
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Location current_loc;
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current_loc.lat = sitl->state.latitude * 1.0e7;
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current_loc.lng = sitl->state.longitude * 1.0e7;
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current_loc.alt = sitl->state.altitude * 1.0e2;
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// where the beacon system origin is located
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Location beacon_origin;
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beacon_origin.lat = get_beacon_origin_lat() * 1.0e7;
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beacon_origin.lng = get_beacon_origin_lon() * 1.0e7;
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beacon_origin.alt = get_beacon_origin_alt() * 1.0e2;
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// position of each beacon
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Location beacon_loc = beacon_origin;
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switch (beacon_id) {
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case 0:
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// NE corner
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
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break;
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case 1:
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// SE corner
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST);
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break;
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case 2:
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// SW corner
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
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break;
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case 3:
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// NW corner
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
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break;
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}
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Vector2f beac_diff = location_diff(beacon_origin, beacon_loc);
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Vector2f veh_diff = location_diff(beacon_origin, current_loc);
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Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2);
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Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2);
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Vector3f beac_veh_offset = veh_pos3d - beac_pos3d;
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set_beacon_position(beacon_id, beac_pos3d);
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set_beacon_distance(beacon_id, beac_veh_offset.length());
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set_vehicle_position(veh_pos3d, 0.5f);
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last_update_ms = now;
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}
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#endif // CONFIG_HAL_BOARD
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