ardupilot/libraries/SITL/SIM_Calibration.h

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3.3 KiB
C++

/*
* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
*
* This file 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 file 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/>.
*/
#pragma once
#include "SIM_Aircraft.h"
#include <AP_Math/AP_Math.h>
namespace SITL {
/**
* Simulation model to simulate calibration of accelerometers and compasses.
*
* The vehicle rotation can be controlled by sending PWM values to the servos
* input, denoted by PWM[i] for the i-th channel (starting by zero). All PWM
* values must be in [1000, 2000], otherwise that will cause undefined
* behavior.
*
* There are four control modes, that are set with PWM[4]:
*
* 1) Stop (1000 <= PWM[4] < 1100):
* Stop the vehicle, i.e., stop the actuation of the other modes.
*
* 2) Attitude (1100 <= PWM[4] < 1200):
* Rotate the vehicle to the specified attitude. The attitude is defined
* with the PWM channels 5, 6 and 7 for roll, pitch and yaw angles,
* respectively. The PWM value for a desired angle in radians is given by:
*
* pwm(theta) = 1500 + 500 * round(theta / pi)
* where -pi <= theta <= pi
*
* 3) Simple autonomous compass calibration (1200 <= PWM[4] < 1300):
* Move continuously the vehicle through six calibration poses and do a
* rotation about each pose over a short period of time.
*
* 4) Angular Velocity (1300 <= PWM[4] <= 2000):
* Rotate the vehicle at a desired angular velocity. The angular velocity is
* specified by a rotation axis and an angular speed.
*
* The x, y and z components of the rotation axis is given, respectively, by
* the PWM channels 5, 6 and 7 with an offset of 1500. The rotation axis is
* normalized internally, so that PWM[5,6,7] = [1600, 1300, 0] and
* PWM[5,6,7] = [1700, 1100, 0] means the same normalized rotation axis.
*
* The angular speed value is specified by PWM[4]. The PWM value for a
* desired angular speed in radians/s is given by:
*
* pwm(theta) = 1300 + 700 * round(theta / (2 * pi)),
* where 0 <= theta <= 2 * pi
*/
class Calibration : public Aircraft {
public:
Calibration(const char *home_str, const char *frame_str);
void update(const struct sitl_input &input);
static Aircraft *create(const char *home_str, const char *frame_str) {
return new Calibration(home_str, frame_str);
}
private:
void _stop_control(const struct sitl_input &input, Vector3f& rot_accel);
void _attitude_set(float desired_roll, float desired_pitch, float desired_yaw,
Vector3f& rot_accel);
void _attitude_control(const struct sitl_input &input,
Vector3f& rot_accel);
void _angular_velocity_control(const struct sitl_input &input,
Vector3f& rot_accel);
void _calibration_poses(Vector3f& rot_accel);
};
}