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ardupilot/libraries/SITL/SIM_FlightAxis.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulator connector for FlightAxis
*/
#include "SIM_FlightAxis.h"
#include <arpa/inet.h>
#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdarg.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <AP_HAL/AP_HAL.h>
#include <DataFlash/DataFlash.h>
extern const AP_HAL::HAL& hal;
namespace SITL {
// the asprintf() calls are not worth checking for SITL
#pragma GCC diagnostic ignored "-Wunused-result"
FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
{
use_time_sync = false;
rate_hz = 250 / target_speedup;
heli_demix = strstr(frame_str, "helidemix") != NULL;
rev4_servos = strstr(frame_str, "rev4") != NULL;
const char *colon = strchr(frame_str, ':');
if (colon) {
controller_ip = colon+1;
}
// FlightAxis sensor data is not good enough for EKF. Use fake EKF by default
AP_Param::set_default_by_name("AHRS_EKF_TYPE", 10);
AP_Param::set_default_by_name("INS_GYR_CAL", 0);
}
/*
extremely primitive SOAP parser that assumes the format used by FlightAxis
*/
void FlightAxis::parse_reply(const char *reply)
{
const char *reply0 = reply;
for (uint16_t i=0; i<num_keys; i++) {
const char *p = strstr(reply, keytable[i].key);
if (p == nullptr) {
p = strstr(reply0, keytable[i].key);
}
if (p == nullptr) {
printf("Failed to find key %s\n", keytable[i].key);
controller_started = false;
break;
}
p += strlen(keytable[i].key) + 1;
double v;
if (strncmp(p, "true", 4) == 0) {
v = 1;
} else if (strncmp(p, "false", 5) == 0) {
v = 0;
} else {
v = atof(p);
}
keytable[i].ref = v;
// this assumes key order and allows us to decode arrays
p = strchr(p, '>');
if (p != nullptr) {
reply = p;
}
}
}
/*
make a SOAP request, returning body of reply
*/
char *FlightAxis::soap_request(const char *action, const char *fmt, ...)
{
va_list ap;
char *req1;
va_start(ap, fmt);
vasprintf(&req1, fmt, ap);
va_end(ap);
//printf("%s\n", req1);
// open SOAP socket to FlightAxis
SocketAPM sock(false);
if (!sock.connect(controller_ip, controller_port)) {
free(req1);
return nullptr;
}
sock.set_blocking(false);
char *req;
asprintf(&req, R"(POST / HTTP/1.1
soapaction: '%s'
content-length: %u
content-type: text/xml;charset='UTF-8'
Connection: Keep-Alive
%s)",
action,
(unsigned)strlen(req1), req1);
sock.send(req, strlen(req));
free(req1);
free(req);
char reply[10000];
memset(reply, 0, sizeof(reply));
ssize_t ret = sock.recv(reply, sizeof(reply)-1, 1000);
if (ret <= 0) {
printf("No data\n");
return nullptr;
}
char *p = strstr(reply, "Content-Length: ");
if (p == nullptr) {
printf("No Content-Length\n");
return nullptr;
}
// get the content length
uint32_t content_length = strtoul(p+16, NULL, 10);
char *body = strstr(p, "\r\n\r\n");
if (body == nullptr) {
printf("No body\n");
return nullptr;
}
body += 4;
// get the rest of the body
int32_t expected_length = content_length + (body - reply);
if (expected_length >= (int32_t)sizeof(reply)) {
printf("Reply too large %i\n", expected_length);
return nullptr;
}
while (ret < expected_length) {
ssize_t ret2 = sock.recv(&reply[ret], sizeof(reply)-(1+ret), 100);
if (ret2 <= 0) {
return nullptr;
}
// nul terminate
reply[ret+ret2] = 0;
ret += ret2;
}
return strdup(reply);
}
void FlightAxis::exchange_data(const struct sitl_input &input)
{
if (!controller_started ||
is_zero(state.m_flightAxisControllerIsActive) ||
!is_zero(state.m_resetButtonHasBeenPressed)) {
printf("Starting controller at %s\n", controller_ip);
// call a restore first. This allows us to connect after the aircraft is changed in RealFlight
char *reply = soap_request("RestoreOriginalControllerDevice", R"(<?xml version='1.0' encoding='UTF-8'?>
<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
<soap:Body>
<RestoreOriginalControllerDevice><a>1</a><b>2</b></RestoreOriginalControllerDevice>
</soap:Body>
</soap:Envelope>)");
free(reply);
reply = soap_request("InjectUAVControllerInterface", R"(<?xml version='1.0' encoding='UTF-8'?>
<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
<soap:Body>
<InjectUAVControllerInterface><a>1</a><b>2</b></InjectUAVControllerInterface>
</soap:Body>
</soap:Envelope>)");
free(reply);
activation_frame_counter = frame_counter;
controller_started = true;
}
float scaled_servos[8];
for (uint8_t i=0; i<8; i++) {
scaled_servos[i] = (input.servos[i] - 1000) / 1000.0f;
}
if (rev4_servos) {
// swap first 4 and last 4 servos, for quadplane testing
float saved[4];
memcpy(saved, &scaled_servos[0], sizeof(saved));
memcpy(&scaled_servos[0], &scaled_servos[4], sizeof(saved));
memcpy(&scaled_servos[4], saved, sizeof(saved));
}
if (heli_demix) {
// FlightAxis expects "roll/pitch/collective/yaw" input
float swash1 = scaled_servos[0];
float swash2 = scaled_servos[1];
float swash3 = scaled_servos[2];
float roll_rate = swash1 - swash2;
float pitch_rate = -((swash1+swash2) / 2.0f - swash3);
scaled_servos[0] = constrain_float(roll_rate + 0.5, 0, 1);
scaled_servos[1] = constrain_float(pitch_rate + 0.5, 0, 1);
}
char *reply = soap_request("ExchangeData", R"(<?xml version='1.0' encoding='UTF-8'?><soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
<soap:Body>
<ExchangeData>
<pControlInputs>
<m-selectedChannels>255</m-selectedChannels>
<m-channelValues-0to1>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
</m-channelValues-0to1>
</pControlInputs>
</ExchangeData>
</soap:Body>
</soap:Envelope>)",
scaled_servos[0],
scaled_servos[1],
scaled_servos[2],
scaled_servos[3],
scaled_servos[4],
scaled_servos[5],
scaled_servos[6],
scaled_servos[7]);
if (reply) {
parse_reply(reply);
free(reply);
}
}
/*
update the FlightAxis simulation by one time step
*/
void FlightAxis::update(const struct sitl_input &input)
{
exchange_data(input);
double dt_seconds = state.m_currentPhysicsTime_SEC - last_time_s;
if (dt_seconds < 0) {
// cope with restarting RealFlight while connected
initial_time_s = time_now_us * 1.0e-6f;
last_time_s = state.m_currentPhysicsTime_SEC;
position_offset.zero();
return;
}
if (dt_seconds < 0.0001f) {
// we probably got a repeated frame
time_now_us += 1;
return;
}
if (initial_time_s <= 0) {
dt_seconds = 0.001f;
initial_time_s = state.m_currentPhysicsTime_SEC - dt_seconds;
}
/*
the queternion convention in realflight seems to have Z negative
*/
Quaternion quat(state.m_orientationQuaternion_W,
state.m_orientationQuaternion_Y,
state.m_orientationQuaternion_X,
-state.m_orientationQuaternion_Z);
quat.rotation_matrix(dcm);
gyro = Vector3f(radians(constrain_float(state.m_rollRate_DEGpSEC, -2000, 2000)),
radians(constrain_float(state.m_pitchRate_DEGpSEC, -2000, 2000)),
-radians(constrain_float(state.m_yawRate_DEGpSEC, -2000, 2000))) * target_speedup;
velocity_ef = Vector3f(state.m_velocityWorldU_MPS,
state.m_velocityWorldV_MPS,
state.m_velocityWorldW_MPS);
position = Vector3f(state.m_aircraftPositionY_MTR,
state.m_aircraftPositionX_MTR,
-state.m_altitudeASL_MTR - home.alt*0.01);
accel_body(state.m_accelerationBodyAX_MPS2,
state.m_accelerationBodyAY_MPS2,
state.m_accelerationBodyAZ_MPS2);
// accel on the ground is nasty in realflight, and prevents helicopter disarm
if (state.m_isTouchingGround) {
Vector3f accel_ef = (velocity_ef - last_velocity_ef) / dt_seconds;
accel_ef.z -= GRAVITY_MSS;
accel_body = dcm.transposed() * accel_ef;
}
// limit to 16G to match pixhawk
float a_limit = GRAVITY_MSS*16;
accel_body.x = constrain_float(accel_body.x, -a_limit, a_limit);
accel_body.y = constrain_float(accel_body.y, -a_limit, a_limit);
accel_body.z = constrain_float(accel_body.z, -a_limit, a_limit);
// offset based on first position to account for offset in RF world
if (position_offset.is_zero() || state.m_resetButtonHasBeenPressed) {
position_offset = position;
}
position -= position_offset;
airspeed = state.m_airspeed_MPS;
airspeed_pitot = state.m_airspeed_MPS;
battery_voltage = state.m_batteryVoltage_VOLTS;
battery_current = state.m_batteryCurrentDraw_AMPS;
rpm1 = state.m_heliMainRotorRPM;
rpm2 = state.m_propRPM;
/*
the interlink interface supports 8 input channels
*/
rcin_chan_count = 8;
for (uint8_t i=0; i<rcin_chan_count; i++) {
rcin[i] = state.rcin[i];
}
update_position();
time_now_us = (state.m_currentPhysicsTime_SEC - initial_time_s)*1.0e6;
if (frame_counter++ % 1000 == 0) {
if (last_frame_count_s != 0) {
printf("%.2f FPS\n",
1000 / (state.m_currentPhysicsTime_SEC - last_frame_count_s));
} else {
printf("Initial position %f %f %f\n", position.x, position.y, position.z);
}
last_frame_count_s = state.m_currentPhysicsTime_SEC;
}
last_time_s = state.m_currentPhysicsTime_SEC;
last_velocity_ef = velocity_ef;
// update magnetic field
update_mag_field_bf();
}
} // namespace SITL
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