mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.6 KiB
C++
136 lines
3.6 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 connector for Scrimmage simulator
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*/
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#include "SIM_Scrimmage.h"
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#if HAL_SIM_SCRIMMAGE_ENABLED
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#include <stdio.h>
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#include <inttypes.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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namespace SITL {
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Scrimmage::Scrimmage(const char *_frame_str) :
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Aircraft(_frame_str),
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prev_timestamp_us(0),
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recv_sock(true),
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send_sock(true)
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{
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}
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void Scrimmage::set_interface_ports(const char* address, const int port_in, const int port_out)
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{
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fdm_port_in = port_in;
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fdm_port_out = port_out;
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fdm_address = address;
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printf("ArduPilot sending to scrimmage on %s:%d\n",fdm_address, fdm_port_out);
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printf("ArduPilot listening to scrimmage on %s:%d\n",fdm_address, fdm_port_in);
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recv_sock.bind(fdm_address, fdm_port_in);
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recv_sock.reuseaddress();
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recv_sock.set_blocking(false);
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send_sock.reuseaddress();
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send_sock.set_blocking(false);
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}
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void Scrimmage::send_servos(const struct sitl_input &input)
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{
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servo_packet pkt;
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for (int i = 0; i < MAX_NUM_SERVOS; i++) {
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pkt.servos[i] = input.servos[i];
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}
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send_sock.sendto(&pkt, sizeof(servo_packet), fdm_address, fdm_port_out);
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}
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/*
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receive an update from the FDM
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This is a blocking function
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*/
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void Scrimmage::recv_fdm(const struct sitl_input &input)
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{
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fdm_packet pkt;
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// wait for packet from scrimmage
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while (recv_sock.recv(&pkt, sizeof(pkt), 100) != sizeof(pkt));
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// auto-adjust to simulation frame rate
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uint64_t dt_us = 0;
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if (pkt.timestamp_us > prev_timestamp_us)
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dt_us = pkt.timestamp_us - prev_timestamp_us;
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time_now_us += dt_us;
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float dt_inv = 1.0e6 / ((float)dt_us);
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if ( dt_inv > 100) {
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adjust_frame_time(dt_inv);
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}
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prev_timestamp_us = pkt.timestamp_us;
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// dcm_bl: dcm from body to local frame
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dcm.from_euler(pkt.roll, pkt.pitch, pkt.yaw);
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dcm.normalize();
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// subtract gravity to get specific force measuremnt of the IMU
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accel_body = Vector3f(pkt.xAccel, pkt.yAccel, pkt.zAccel) - dcm.transposed()*Vector3f(0.0f, 0.0f, GRAVITY_MSS);
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gyro = Vector3f(pkt.rollRate, pkt.pitchRate, pkt.yawRate);
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velocity_ef = Vector3f(pkt.speedN, pkt.speedE, pkt.speedD);
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location.lat = pkt.latitude * 1.0e7;
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location.lng = pkt.longitude * 1.0e7;
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location.alt = pkt.altitude * 1.0e2;
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position.z = (home.alt - location.alt) * 1.0e-2;
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// velocity relative to air mass, in earth frame TODO
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velocity_air_ef = velocity_ef;
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// velocity relative to airmass in body frame TODO
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velocity_air_bf = dcm.transposed() * velocity_air_ef;
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battery_voltage = 0;
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battery_current = 0;
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rpm[0] = 0;
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rpm[1] = 0;
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airspeed = pkt.airspeed;
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airspeed_pitot = pkt.airspeed;
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}
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/*
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update the Scrimmage simulation by one time step
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*/
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void Scrimmage::update(const struct sitl_input &input)
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{
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send_servos(input);
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recv_fdm(input);
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update_mag_field_bf();
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}
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} // namespace SITL
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#endif
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