mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.4 KiB
C++
114 lines
3.4 KiB
C++
#include "AP_Compass_SITL.h"
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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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extern const AP_HAL::HAL& hal;
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AP_Compass_SITL::AP_Compass_SITL(Compass &compass):
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_sitl(AP::sitl()),
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_has_sample(false),
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AP_Compass_Backend(compass)
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{
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if (_sitl != nullptr) {
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_compass._setup_earth_field();
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for (uint8_t i=0; i<SITL_NUM_COMPASSES; i++) {
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_compass_instance[i] = register_compass();
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}
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hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Compass_SITL::_timer, void));
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}
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}
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void AP_Compass_SITL::_timer()
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{
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// TODO: Refactor delay buffer with AP_Baro_SITL.
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// Sampled at 100Hz
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uint32_t now = AP_HAL::millis();
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if ((now - _last_sample_time) < 10) {
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return;
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}
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_last_sample_time = now;
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// calculate sensor noise and add to 'truth' field in body frame
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// units are milli-Gauss
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Vector3f noise = rand_vec3f() * _sitl->mag_noise;
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Vector3f new_mag_data = _sitl->state.bodyMagField + noise;
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// add delay
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uint32_t best_time_delta = 1000; // initialise large time representing buffer entry closest to current time - delay.
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uint8_t best_index = 0; // initialise number representing the index of the entry in buffer closest to delay.
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// storing data from sensor to buffer
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if (now - last_store_time >= 10) { // store data every 10 ms.
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last_store_time = now;
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if (store_index > buffer_length-1) { // reset buffer index if index greater than size of buffer
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store_index = 0;
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}
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buffer[store_index].data = new_mag_data; // add data to current index
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buffer[store_index].time = last_store_time; // add time to current index
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store_index = store_index + 1; // increment index
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}
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// return delayed measurement
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uint32_t delayed_time = now - _sitl->mag_delay; // get time corresponding to delay
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// find data corresponding to delayed time in buffer
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for (uint8_t i=0; i<=buffer_length-1; i++) {
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// find difference between delayed time and time stamp in buffer
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uint32_t time_delta = abs((int32_t)(delayed_time - buffer[i].time));
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// if this difference is smaller than last delta, store this time
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if (time_delta < best_time_delta) {
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best_index= i;
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best_time_delta = time_delta;
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}
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}
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if (best_time_delta < 1000) { // only output stored state if < 1 sec retrieval error
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new_mag_data = buffer[best_index].data;
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}
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new_mag_data -= _sitl->mag_ofs.get();
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for (uint8_t i=0; i<SITL_NUM_COMPASSES; i++) {
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rotate_field(new_mag_data, _compass_instance[i]);
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publish_raw_field(new_mag_data, _compass_instance[i]);
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correct_field(new_mag_data, _compass_instance[i]);
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}
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if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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return;
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}
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_mag_accum += new_mag_data;
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_accum_count++;
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if (_accum_count == 10) {
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_mag_accum /= 2;
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_accum_count = 5;
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_has_sample = true;
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}
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_sem->give();
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}
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void AP_Compass_SITL::read()
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{
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if (_sem->take_nonblocking()) {
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if (!_has_sample) {
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_sem->give();
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return;
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}
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Vector3f field(_mag_accum);
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field /= _accum_count;
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_mag_accum.zero();
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_accum_count = 0;
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for (uint8_t i=0; i<SITL_NUM_COMPASSES; i++) {
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publish_filtered_field(field, _compass_instance[i]);
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}
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_has_sample = false;
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_sem->give();
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}
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}
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#endif
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