mirror of https://github.com/ArduPilot/ardupilot
223 lines
5.7 KiB
C++
223 lines
5.7 KiB
C++
#pragma once
|
|
|
|
#include <SITL/SITL.h>
|
|
|
|
#if AP_SIM_ENABLED
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#include <SITL/SITL_Input.h>
|
|
#include <SITL/SIM_Gimbal.h>
|
|
#include <SITL/SIM_ADSB.h>
|
|
#include <SITL/SIM_Vicon.h>
|
|
#include <SITL/SIM_RF_Benewake_TF02.h>
|
|
#include <SITL/SIM_RF_Benewake_TF03.h>
|
|
#include <SITL/SIM_RF_Benewake_TFmini.h>
|
|
#include <SITL/SIM_RF_TeraRanger_Serial.h>
|
|
#include <SITL/SIM_RF_LightWareSerial.h>
|
|
#include <SITL/SIM_RF_LightWareSerialBinary.h>
|
|
#include <SITL/SIM_RF_Lanbao.h>
|
|
#include <SITL/SIM_RF_BLping.h>
|
|
#include <SITL/SIM_RF_LeddarOne.h>
|
|
#include <SITL/SIM_RF_USD1_v0.h>
|
|
#include <SITL/SIM_RF_USD1_v1.h>
|
|
#include <SITL/SIM_RF_MaxsonarSerialLV.h>
|
|
#include <SITL/SIM_RF_Wasp.h>
|
|
#include <SITL/SIM_RF_NMEA.h>
|
|
#include <SITL/SIM_RF_MAVLink.h>
|
|
#include <SITL/SIM_RF_GYUS42v2.h>
|
|
#include <SITL/SIM_VectorNav.h>
|
|
#include <SITL/SIM_LORD.h>
|
|
#include <SITL/SIM_AIS.h>
|
|
#include <SITL/SIM_GPS.h>
|
|
|
|
#include <SITL/SIM_Frsky_D.h>
|
|
#include <SITL/SIM_CRSF.h>
|
|
#include <SITL/SIM_PS_RPLidarA2.h>
|
|
#include <SITL/SIM_PS_TeraRangerTower.h>
|
|
#include <SITL/SIM_PS_LightWare_SF45B.h>
|
|
|
|
#include <SITL/SIM_RichenPower.h>
|
|
#include <SITL/SIM_FETtecOneWireESC.h>
|
|
#include <AP_HAL/utility/Socket.h>
|
|
|
|
#include <AP_HAL/AP_HAL_Namespace.h>
|
|
|
|
class AP_HAL::SIMState {
|
|
public:
|
|
|
|
// simulated airspeed, sonar and battery monitor
|
|
uint16_t sonar_pin_value; // pin 0
|
|
uint16_t airspeed_pin_value[2]; // pin 1
|
|
uint16_t voltage_pin_value; // pin 13
|
|
uint16_t current_pin_value; // pin 12
|
|
uint16_t voltage2_pin_value; // pin 15
|
|
uint16_t current2_pin_value; // pin 14
|
|
|
|
void update();
|
|
|
|
#if HAL_SIM_GPS_ENABLED
|
|
void set_gps0(SITL::GPS *_gps) { gps[0] = _gps; }
|
|
#endif
|
|
|
|
uint16_t pwm_output[32]; // was SITL_NUM_CHANNELS
|
|
|
|
private:
|
|
void _set_param_default(const char *parm);
|
|
void _sitl_setup(const char *home_str);
|
|
void _setup_timer(void);
|
|
void _setup_adc(void);
|
|
|
|
void set_height_agl(void);
|
|
void _set_signal_handlers(void) const;
|
|
|
|
void _update_airspeed(float airspeed);
|
|
void _simulator_servos(struct sitl_input &input);
|
|
void _fdm_input_step(void);
|
|
void fdm_input_local(void);
|
|
|
|
void wait_clock(uint64_t wait_time_usec);
|
|
|
|
uint16_t pwm_input[16]; // was SITL_RC_INPUT_CHANNELS
|
|
|
|
// internal state
|
|
// enum vehicle_type _vehicle;
|
|
uint8_t _instance;
|
|
uint16_t _base_port;
|
|
pid_t _parent_pid;
|
|
uint32_t _update_count;
|
|
|
|
class AP_Baro *_barometer;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
SocketAPM _sitl_rc_in{true};
|
|
#endif
|
|
SITL::SIM *_sitl;
|
|
uint16_t _rcin_port;
|
|
uint16_t _fg_view_port;
|
|
uint16_t _irlock_port;
|
|
float _current;
|
|
|
|
bool _synthetic_clock_mode;
|
|
|
|
bool _use_rtscts;
|
|
bool _use_fg_view;
|
|
|
|
const char *_fg_address;
|
|
|
|
// internal SITL model
|
|
SITL::Aircraft *sitl_model;
|
|
|
|
#if HAL_SIM_GIMBAL_ENABLED
|
|
// simulated gimbal
|
|
bool enable_gimbal;
|
|
SITL::Gimbal *gimbal;
|
|
#endif
|
|
|
|
#if HAL_SIM_ADSB_ENABLED
|
|
// simulated ADSb
|
|
SITL::ADSB *adsb;
|
|
#endif
|
|
|
|
// simulated vicon system:
|
|
SITL::Vicon *vicon;
|
|
|
|
// simulated Benewake tf02 rangefinder:
|
|
SITL::RF_Benewake_TF02 *benewake_tf02;
|
|
// simulated Benewake tf03 rangefinder:
|
|
SITL::RF_Benewake_TF03 *benewake_tf03;
|
|
// simulated Benewake tfmini rangefinder:
|
|
SITL::RF_Benewake_TFmini *benewake_tfmini;
|
|
// simulated TeraRangerSerial rangefinder:
|
|
SITL::RF_TeraRanger_Serial *teraranger_serial;
|
|
|
|
// simulated LightWareSerial rangefinder - legacy protocol::
|
|
SITL::RF_LightWareSerial *lightwareserial;
|
|
// simulated LightWareSerial rangefinder - binary protocol:
|
|
SITL::RF_LightWareSerialBinary *lightwareserial_binary;
|
|
// simulated Lanbao rangefinder:
|
|
SITL::RF_Lanbao *lanbao;
|
|
// simulated BLping rangefinder:
|
|
SITL::RF_BLping *blping;
|
|
// simulated LeddarOne rangefinder:
|
|
SITL::RF_LeddarOne *leddarone;
|
|
// simulated USD1 v0 rangefinder:
|
|
SITL::RF_USD1_v0 *USD1_v0;
|
|
// simulated USD1 v1 rangefinder:
|
|
SITL::RF_USD1_v1 *USD1_v1;
|
|
// simulated MaxsonarSerialLV rangefinder:
|
|
SITL::RF_MaxsonarSerialLV *maxsonarseriallv;
|
|
// simulated Wasp rangefinder:
|
|
SITL::RF_Wasp *wasp;
|
|
// simulated NMEA rangefinder:
|
|
SITL::RF_NMEA *nmea;
|
|
// simulated MAVLink rangefinder:
|
|
SITL::RF_MAVLink *rf_mavlink;
|
|
// simulated GYUS42v2 rangefinder:
|
|
SITL::RF_GYUS42v2 *gyus42v2;
|
|
|
|
// simulated Frsky devices
|
|
SITL::Frsky_D *frsky_d;
|
|
// SITL::Frsky_SPort *frsky_sport;
|
|
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
|
|
|
|
#if HAL_SIM_PS_RPLIDARA2_ENABLED
|
|
// simulated RPLidarA2:
|
|
SITL::PS_RPLidarA2 *rplidara2;
|
|
#endif
|
|
|
|
// simulated FETtec OneWire ESCs:
|
|
SITL::FETtecOneWireESC *fetteconewireesc;
|
|
|
|
#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
|
|
// simulated SF45B proximity sensor:
|
|
SITL::PS_LightWare_SF45B *sf45b;
|
|
#endif
|
|
|
|
#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
|
|
SITL::PS_TeraRangerTower *terarangertower;
|
|
#endif
|
|
|
|
#if AP_SIM_CRSF_ENABLED
|
|
// simulated CRSF devices
|
|
SITL::CRSF *crsf;
|
|
#endif
|
|
|
|
// simulated VectorNav system:
|
|
SITL::VectorNav *vectornav;
|
|
|
|
// simulated LORD Microstrain system
|
|
SITL::LORD *lord;
|
|
|
|
#if HAL_SIM_JSON_MASTER_ENABLED
|
|
// Ride along instances via JSON SITL backend
|
|
SITL::JSON_Master ride_along;
|
|
#endif
|
|
|
|
#if HAL_SIM_AIS_ENABLED
|
|
// simulated AIS stream
|
|
SITL::AIS *ais;
|
|
#endif
|
|
|
|
// simulated EFI MegaSquirt device:
|
|
SITL::EFI_MegaSquirt *efi_ms;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
// output socket for flightgear viewing
|
|
SocketAPM fg_socket{true};
|
|
#endif
|
|
|
|
const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
|
|
|
|
const char *_home_str;
|
|
|
|
uint32_t wind_start_delay_micros;
|
|
|
|
#if HAL_SIM_GPS_ENABLED
|
|
// simulated GPS devices
|
|
SITL::GPS *gps[2]; // constrained by # of parameter sets
|
|
#endif
|
|
};
|
|
|
|
#endif // AP_SIM_ENABLED
|