mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
/*
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SITL handling
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This simulates a compass
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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 <SITL/SITL.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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setup the compass with new input
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all inputs are in degrees
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*/
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void SITL_State::_update_compass(float rollDeg, float pitchDeg, float yawDeg)
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{
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static uint32_t last_update;
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if (_compass == nullptr) {
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// no compass in this sketch
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return;
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}
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yawDeg += _sitl->mag_error;
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if (yawDeg > 180.0f) {
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yawDeg -= 360.0f;
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}
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if (yawDeg < -180.0f) {
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yawDeg += 360.0f;
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}
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// 100Hz
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uint32_t now = AP_HAL::millis();
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if ((now - last_update) < 10) {
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return;
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}
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last_update = 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_mag = 1000; // initialise large time representing buffer entry closest to current time - delay.
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uint8_t best_index_mag = 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_mag >= 10) { // store data every 10 ms.
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last_store_time_mag = now;
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if (store_index_mag > mag_buffer_length-1) { // reset buffer index if index greater than size of buffer
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store_index_mag = 0;
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}
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buffer_mag[store_index_mag].data = new_mag_data; // add data to current index
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buffer_mag[store_index_mag].time = last_store_time_mag; // add time to current index
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store_index_mag = store_index_mag + 1; // increment index
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}
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// return delayed measurement
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delayed_time_mag = 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<=mag_buffer_length-1; i++) {
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// find difference between delayed time and time stamp in buffer
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time_delta_mag = abs((int32_t)(delayed_time_mag - buffer_mag[i].time));
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// if this difference is smaller than last delta, store this time
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if (time_delta_mag < best_time_delta_mag) {
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best_index_mag = i;
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best_time_delta_mag = time_delta_mag;
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}
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}
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if (best_time_delta_mag < 1000) { // only output stored state if < 1 sec retrieval error
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new_mag_data = buffer_mag[best_index_mag].data;
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}
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new_mag_data -= _sitl->mag_ofs.get();
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_compass->setHIL(0, new_mag_data, AP_HAL::micros());
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_compass->setHIL(1, new_mag_data, AP_HAL::micros());
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}
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#endif
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