ardupilot/libraries/AP_HAL_AVR_SITL/SITL_State.h

100 lines
2.8 KiB
C++

#ifndef __AP_HAL_AVR_SITL_STATE_H__
#define __AP_HAL_AVR_SITL_STATE_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#include <AP_HAL_AVR_SITL.h>
#include "AP_HAL_AVR_SITL_Namespace.h"
#include "HAL_AVR_SITL_Class.h"
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
#include <arpa/inet.h>
#include "../AP_Baro/AP_Baro.h"
#include "../AP_InertialSensor/AP_InertialSensor.h"
#include "../AP_Compass/AP_Compass.h"
#include "../SITL/SITL.h"
class HAL_AVR_SITL;
class AVR_SITL::SITL_State {
public:
void init(int argc, char * const argv[]);
enum vehicle_type {
ArduCopter,
APMrover2,
ArduPlane
};
int gps_pipe(void);
ssize_t gps_read(int fd, void *buf, size_t count);
static uint16_t pwm_output[11];
static uint16_t pwm_input[8];
static bool pwm_valid;
static void loop_hook(void);
// simulated airspeed
static uint16_t airspeed_pin_value;
private:
void _parse_command_line(int argc, char * const argv[]);
void _usage(void);
void _sitl_setup(void);
void _setup_fdm(void);
void _setup_timer(void);
void _setup_adc(void);
// these methods are static as they are called
// from the timer
static void _update_barometer(float height);
static void _update_compass(float roll, float pitch, float yaw);
static void _update_gps(double latitude, double longitude, float altitude,
double speedN, double speedE, bool have_lock);
static void _update_ins(float roll, float pitch, float yaw, // Relative to earth
double rollRate, double pitchRate,double yawRate, // Local to plane
double xAccel, double yAccel, double zAccel, // Local to plane
float airspeed);
static void _fdm_input(void);
static void _simulator_output(void);
static uint16_t _airspeed_sensor(float airspeed);
static float _gyro_drift(void);
static float _rand_float(void);
static Vector3f _rand_vec3f(void);
static Vector3f _heading_to_mag(float roll, float pitch, float yaw);
static void _gps_send(uint8_t msgid, uint8_t *buf, uint16_t size);
// signal handlers
static void _sig_fpe(int signum);
static void _timer_handler(int signum);
// internal state
static enum vehicle_type _vehicle;
static uint16_t _framerate;
float _initial_height;
static struct sockaddr_in _rcout_addr;
static pid_t _parent_pid;
static uint32_t _update_count;
static bool _motors_on;
static AP_Baro_BMP085_HIL *_barometer;
static AP_InertialSensor_Stub *_ins;
static SITLScheduler *_scheduler;
static AP_Compass_HIL *_compass;
static int _sitl_fd;
static SITL *_sitl;
static const uint16_t _rcout_port = 5502;
static const uint16_t _simin_port = 5501;
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#endif // __AP_HAL_AVR_SITL_STATE_H__