mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.4 KiB
C++
140 lines
4.4 KiB
C++
/*
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SITL handling
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This emulates the ADS7844 ADC
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Andrew Tridgell November 2011
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*/
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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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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Declination/AP_Declination.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <SITL/SITL.h>
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#include "Scheduler.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_ADC/AP_ADC.h>
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#include "SITL_State.h"
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#include <fenv.h>
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extern const AP_HAL::HAL& hal;
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using namespace HALSITL;
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/*
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convert airspeed in m/s to an airspeed sensor value
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*/
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uint16_t SITL_State::_airspeed_sensor(float airspeed)
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{
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const float airspeed_ratio = 1.9936f;
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const float airspeed_offset = 2013;
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float airspeed_pressure, airspeed_raw;
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airspeed_pressure = (airspeed*airspeed) / airspeed_ratio;
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airspeed_raw = airspeed_pressure + airspeed_offset;
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if (airspeed_raw/4 > 0xFFFF) {
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return 0xFFFF;
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}
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// add delay
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uint32_t now = AP_HAL::millis();
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uint32_t best_time_delta_wind = 200; // initialise large time representing buffer entry closest to current time - delay.
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uint8_t best_index_wind = 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_wind >= 10) { // store data every 10 ms.
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last_store_time_wind = now;
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if (store_index_wind > wind_buffer_length-1) { // reset buffer index if index greater than size of buffer
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store_index_wind = 0;
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}
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buffer_wind[store_index_wind].data = airspeed_raw; // add data to current index
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buffer_wind[store_index_wind].time = last_store_time_wind; // add time to current index
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store_index_wind = store_index_wind + 1; // increment index
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}
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// return delayed measurement
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delayed_time_wind = now - _sitl->wind_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<=wind_buffer_length-1; i++) {
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// find difference between delayed time and time stamp in buffer
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time_delta_wind = abs(
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(int32_t)(delayed_time_wind - buffer_wind[i].time));
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// if this difference is smaller than last delta, store this time
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if (time_delta_wind < best_time_delta_wind) {
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best_index_wind = i;
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best_time_delta_wind = time_delta_wind;
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}
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}
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if (best_time_delta_wind < 200) { // only output stored state if < 200 msec retrieval error
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airspeed_raw = buffer_wind[best_index_wind].data;
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}
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return airspeed_raw/4;
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}
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/*
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emulate an analog rangefinder
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*/
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uint16_t SITL_State::_ground_sonar(void)
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{
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float altitude = _sitl->height_agl;
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// sensor position offset in body frame
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Vector3f relPosSensorBF = _sitl->rngfnd_pos_offset;
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// adjust altitude for position of the sensor on the vehicle if position offset is non-zero
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if (!relPosSensorBF.is_zero()) {
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// get a rotation matrix following DCM conventions (body to earth)
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Matrix3f rotmat;
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_sitl->state.quaternion.rotation_matrix(rotmat);
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// rotate the offset into earth frame
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Vector3f relPosSensorEF = rotmat * relPosSensorBF;
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// correct the altitude at the sensor
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altitude -= relPosSensorEF.z;
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}
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float voltage = 5.0f;
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if (fabs(_sitl->state.rollDeg) < 90 &&
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fabs(_sitl->state.pitchDeg) < 90) {
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// adjust for apparent altitude with roll
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altitude /= cosf(radians(_sitl->state.rollDeg)) * cosf(radians(_sitl->state.pitchDeg));
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altitude += _sitl->sonar_noise * rand_float();
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// Altitude in in m, scaler in meters/volt
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voltage = altitude / _sitl->sonar_scale;
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voltage = constrain_float(voltage, 0, 5.0f);
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if (_sitl->sonar_glitch >= (rand_float() + 1.0f)/2.0f) {
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voltage = 5.0f;
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}
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}
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return 1023*(voltage / 5.0f);
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}
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/*
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setup the INS input channels with new input
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*/
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void SITL_State::_update_ins(float airspeed)
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{
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if (_ins == nullptr) {
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// no inertial sensor in this sketch
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return;
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}
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sonar_pin_value = _ground_sonar();
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float airspeed_simulated = (fabsf(_sitl->arspd_fail) > 1.0e-6f) ? _sitl->arspd_fail : airspeed;
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airspeed_pin_value = _airspeed_sensor(airspeed_simulated + (_sitl->arspd_noise * rand_float()));
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}
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#endif
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