ardupilot/libraries/SITL/SITL.h

181 lines
6.7 KiB
C++

#pragma once
#include <GCS_MAVLink/GCS_MAVLink.h>
class DataFlash_Class;
namespace SITL {
struct sitl_fdm {
// this is the structure passed between FDM models and the main SITL code
uint64_t timestamp_us;
Location home;
double latitude, longitude; // degrees
double altitude; // MSL
double heading; // degrees
double speedN, speedE, speedD; // m/s
double xAccel, yAccel, zAccel; // m/s/s in body frame
double rollRate, pitchRate, yawRate; // degrees/s/s in body frame
double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
Quaternion quaternion;
double airspeed; // m/s
double battery_voltage; // Volts
double battery_current; // Amps
double rpm1; // main prop RPM
double rpm2; // secondary RPM
uint8_t rcin_chan_count;
float rcin[8]; // RC input 0..1
double range; // rangefinder value
Vector3f bodyMagField; // Truth XYZ magnetic field vector in body-frame. Includes motor interference. Units are milli-Gauss.
Vector3f angAccel; // Angular acceleration in degrees/s/s about the XYZ body axes
};
// number of rc output channels
#define SITL_NUM_CHANNELS 16
class SITL {
public:
SITL() {
// set a default compass offset
mag_ofs.set(Vector3f(5, 13, -18));
AP_Param::setup_object_defaults(this, var_info);
AP_Param::setup_object_defaults(this, var_info2);
}
enum GPSType {
GPS_TYPE_NONE = 0,
GPS_TYPE_UBLOX = 1,
GPS_TYPE_MTK = 2,
GPS_TYPE_MTK16 = 3,
GPS_TYPE_MTK19 = 4,
GPS_TYPE_NMEA = 5,
GPS_TYPE_SBP = 6,
GPS_TYPE_FILE = 7,
GPS_TYPE_NOVA = 8,
GPS_TYPE_SBP2 = 9,
};
struct sitl_fdm state;
// loop update rate in Hz
uint16_t update_rate_hz;
// true when motors are active
bool motors_on;
// height above ground
float height_agl;
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info2[];
// noise levels for simulated sensors
AP_Float baro_noise; // in metres
AP_Float baro_drift; // in metres per second
AP_Float baro_glitch; // glitch in meters
AP_Float gyro_noise; // in degrees/second
AP_Vector3f gyro_scale; // percentage
AP_Float accel_noise; // in m/s/s
AP_Float accel2_noise; // in m/s/s
AP_Vector3f accel_bias; // in m/s/s
AP_Vector3f accel2_bias; // in m/s/s
AP_Float arspd_noise; // in m/s
AP_Float arspd_fail; // pitot tube failure
AP_Float arspd_fail_pressure; // pitot tube failure pressure
AP_Float arspd_fail_pitot_pressure; // pitot tube failure pressure
AP_Float gps_noise; // amplitude of the gps altitude error
AP_Int16 gps_lock_time; // delay in seconds before GPS gets lock
AP_Int16 gps_alt_offset; // gps alt error
AP_Float mag_noise; // in mag units (earth field is 818)
AP_Float mag_error; // in degrees
AP_Vector3f mag_mot; // in mag units per amp
AP_Vector3f mag_ofs; // in mag units
AP_Float servo_speed; // servo speed in seconds
AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance
AP_Float sonar_noise; // in metres
AP_Float sonar_scale; // meters per volt
AP_Float drift_speed; // degrees/second/minute
AP_Float drift_time; // period in minutes
AP_Float engine_mul; // engine multiplier
AP_Int8 engine_fail; // engine servo to fail (0-7)
AP_Int8 gps_disable; // disable simulated GPS
AP_Int8 gps2_enable; // enable 2nd simulated GPS
AP_Int8 gps_delay; // delay in samples
AP_Int8 gps_type; // see enum GPSType
AP_Int8 gps2_type; // see enum GPSType
AP_Float gps_byteloss;// byte loss as a percent
AP_Int8 gps_numsats; // number of visible satellites
AP_Vector3f gps_glitch; // glitch offsets in lat, lon and altitude
AP_Vector3f gps2_glitch; // glitch offsets in lat, lon and altitude for 2nd GPS
AP_Int8 gps_hertz; // GPS update rate in Hz
AP_Float batt_voltage; // battery voltage base
AP_Float accel_fail; // accelerometer failure value
AP_Int8 rc_fail; // fail RC input
AP_Int8 baro_disable; // disable simulated barometer
AP_Int8 float_exception; // enable floating point exception checks
AP_Int8 flow_enable; // enable simulated optflow
AP_Int16 flow_rate; // optflow data rate (Hz)
AP_Int8 flow_delay; // optflow data delay
AP_Int8 terrain_enable; // enable using terrain for height
AP_Int8 pin_mask; // for GPIO emulation
AP_Float speedup; // simulation speedup
AP_Int8 odom_enable; // enable visual odomotry data
// wind control
float wind_speed_active;
float wind_direction_active;
AP_Float wind_speed;
AP_Float wind_direction;
AP_Float wind_turbulance;
AP_Float gps_drift_alt;
AP_Int16 baro_delay; // barometer data delay in ms
AP_Int16 mag_delay; // magnetometer data delay in ms
AP_Int16 wind_delay; // windspeed data delay in ms
// ADSB related run-time options
AP_Int16 adsb_plane_count;
AP_Float adsb_radius_m;
AP_Float adsb_altitude_m;
AP_Int8 adsb_tx;
// Earth magnetic field anomaly
AP_Vector3f mag_anomaly_ned; // NED anomaly vector at ground level (mGauss)
AP_Float mag_anomaly_hgt; // height above ground where anomally strength has decayed to 1/8 of the ground level value (m)
// Body frame sensor position offsets
AP_Vector3f imu_pos_offset; // XYZ position of the IMU accelerometer relative to the body frame origin (m)
AP_Vector3f gps_pos_offset; // XYZ position of the GPS antenna phase centre relative to the body frame origin (m)
AP_Vector3f rngfnd_pos_offset; // XYZ position of the range finder zero range datum relative to the body frame origin (m)
AP_Vector3f optflow_pos_offset; // XYZ position of the optical flow sensor focal point relative to the body frame origin (m)
// temperature control
AP_Float temp_start;
AP_Float temp_flight;
AP_Float temp_tconst;
AP_Float temp_baro_factor;
// differential pressure sensor tube order
AP_Int8 arspd_signflip;
uint16_t irlock_port;
void simstate_send(mavlink_channel_t chan);
void Log_Write_SIMSTATE(DataFlash_Class *dataflash);
// convert a set of roll rates from earth frame to body frame
static void convert_body_frame(double rollDeg, double pitchDeg,
double rollRate, double pitchRate, double yawRate,
double *p, double *q, double *r);
// convert a set of roll rates from body frame to earth frame
static Vector3f convert_earth_frame(const Matrix3f &dcm, const Vector3f &gyro);
};
} // namespace SITL