mirror of https://github.com/ArduPilot/ardupilot
275 lines
8.0 KiB
C++
275 lines
8.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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parent class for aircraft simulators
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*/
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#pragma once
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#include <AP_Math/AP_Math.h>
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#include "SITL.h"
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#include "SITL_Input.h"
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#include <AP_Terrain/AP_Terrain.h>
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#include "SIM_Sprayer.h"
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#include "SIM_Gripper_Servo.h"
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#include "SIM_Gripper_EPM.h"
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#include "SIM_Parachute.h"
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#include "SIM_Precland.h"
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namespace SITL {
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/*
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parent class for all simulator types
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*/
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class Aircraft {
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public:
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Aircraft(const char *home_str, const char *frame_str);
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/*
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set simulation speedup
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*/
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void set_speedup(float speedup);
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/*
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set instance number
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*/
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void set_instance(uint8_t _instance) {
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instance = _instance;
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}
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/*
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set directory for additional files such as aircraft models
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*/
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void set_autotest_dir(const char *_autotest_dir) {
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autotest_dir = _autotest_dir;
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}
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/* Create and set in/out socket for extenal simulator */
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virtual void set_interface_ports(const char* address, const int port_in, const int port_out) {};
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/*
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step the FDM by one time step
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*/
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virtual void update(const struct sitl_input &input) = 0;
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/* fill a sitl_fdm structure from the simulator state */
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void fill_fdm(struct sitl_fdm &fdm);
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/* smooth sensors to provide kinematic consistancy */
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void smooth_sensors(void);
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/* return normal distribution random numbers */
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static double rand_normal(double mean, double stddev);
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/* parse a home location string */
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static bool parse_home(const char *home_str, Location &loc, float &yaw_degrees);
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// get frame rate of model in Hz
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float get_rate_hz(void) const { return rate_hz; }
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const Vector3f &get_gyro(void) const {
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return gyro;
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}
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const Vector3f &get_velocity_ef(void) const {
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return velocity_ef;
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}
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const Vector3f &get_velocity_air_ef(void) const {
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return velocity_air_ef;
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}
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const Matrix3f &get_dcm(void) const {
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return dcm;
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}
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const Vector3f &get_mag_field_bf(void) const {
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return mag_bf;
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}
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float gross_mass() const { return mass + external_payload_mass; }
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const Location &get_location() const { return location; }
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const Vector3f &get_position() const { return position; }
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void get_attitude(Quaternion &attitude) const {
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attitude.from_rotation_matrix(dcm);
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}
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const Location &get_home() const { return home; }
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float get_home_yaw() const { return home_yaw; }
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void set_sprayer(Sprayer *_sprayer) { sprayer = _sprayer; }
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void set_parachute(Parachute *_parachute) { parachute = _parachute; }
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void set_gripper_servo(Gripper_Servo *_gripper) { gripper = _gripper; }
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void set_gripper_epm(Gripper_EPM *_gripper_epm) { gripper_epm = _gripper_epm; }
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void set_precland(SIM_Precland *_precland);
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protected:
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SITL *sitl;
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Location home;
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Location location;
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float ground_level;
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float home_yaw;
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float frame_height;
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Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
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Vector3f gyro; // rad/s
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Vector3f gyro_prev; // rad/s
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Vector3f ang_accel; // rad/s/s
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Vector3f velocity_ef; // m/s, earth frame
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Vector3f wind_ef; // m/s, earth frame
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Vector3f velocity_air_ef; // velocity relative to airmass, earth frame
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Vector3f velocity_air_bf; // velocity relative to airmass, body frame
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Vector3f position; // meters, NED from origin
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float mass; // kg
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float external_payload_mass = 0.0f; // kg
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Vector3f accel_body; // m/s/s NED, body frame
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float airspeed; // m/s, apparent airspeed
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float airspeed_pitot; // m/s, apparent airspeed, as seen by fwd pitot tube
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float battery_voltage = -1.0f;
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float battery_current = 0.0f;
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float rpm1 = 0;
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float rpm2 = 0;
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uint8_t rcin_chan_count = 0;
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float rcin[8];
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float range = -1.0f; // rangefinder detection in m
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struct {
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// data from simulated laser scanner, if available
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struct vector3f_array points;
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struct float_array ranges;
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} scanner;
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// Wind Turbulence simulated Data
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float turbulence_azimuth = 0.0f;
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float turbulence_horizontal_speed = 0.0f; // m/s
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float turbulence_vertical_speed = 0.0f; // m/s
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Vector3f mag_bf; // local earth magnetic field vector in Gauss, earth frame
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uint64_t time_now_us;
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const float gyro_noise;
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const float accel_noise;
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float rate_hz;
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float achieved_rate_hz;
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float target_speedup;
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uint64_t frame_time_us;
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float scaled_frame_time_us;
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uint64_t last_wall_time_us;
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uint8_t instance;
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const char *autotest_dir;
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const char *frame;
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bool use_time_sync = true;
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float last_speedup = -1.0f;
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// allow for AHRS_ORIENTATION
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AP_Int8 *ahrs_orientation;
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enum {
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GROUND_BEHAVIOR_NONE = 0,
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GROUND_BEHAVIOR_NO_MOVEMENT,
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GROUND_BEHAVIOR_FWD_ONLY,
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GROUND_BEHAVIOR_TAILSITTER,
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} ground_behavior;
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bool use_smoothing;
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AP_Terrain *terrain;
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float ground_height_difference() const;
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const float FEET_TO_METERS = 0.3048f;
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const float KNOTS_TO_METERS_PER_SECOND = 0.51444f;
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virtual bool on_ground() const;
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// returns height above ground level in metres
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float hagl() const; // metres
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/* update location from position */
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void update_position(void);
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/* update body frame magnetic field */
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void update_mag_field_bf(void);
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/* advance time by deltat in seconds */
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void time_advance();
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/* setup the frame step time */
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void setup_frame_time(float rate, float speedup);
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/* adjust frame_time calculation */
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void adjust_frame_time(float rate);
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/* try to synchronise simulation time with wall clock time, taking
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into account desired speedup */
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void sync_frame_time(void);
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/* add noise based on throttle level (from 0..1) */
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void add_noise(float throttle);
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/* return wall clock time in microseconds since 1970 */
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uint64_t get_wall_time_us(void) const;
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// update attitude and relative position
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void update_dynamics(const Vector3f &rot_accel);
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// update wind vector
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void update_wind(const struct sitl_input &input);
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// return filtered servo input as -1 to 1 range
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float filtered_idx(float v, uint8_t idx);
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float filtered_servo_angle(const struct sitl_input &input, uint8_t idx);
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float filtered_servo_range(const struct sitl_input &input, uint8_t idx);
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// extrapolate sensors by a given delta time in seconds
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void extrapolate_sensors(float delta_time);
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// update external payload/sensor dynamic
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void update_external_payload(const struct sitl_input &input);
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void add_shove_forces(Vector3f &rot_accel, Vector3f &body_accel);
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private:
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uint64_t last_time_us = 0;
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uint32_t frame_counter = 0;
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uint32_t last_ground_contact_ms;
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const uint32_t min_sleep_time;
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struct {
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bool enabled;
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Vector3f accel_body;
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Vector3f gyro;
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Matrix3f rotation_b2e;
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Vector3f position;
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Vector3f velocity_ef;
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uint64_t last_update_us;
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Location location;
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} smoothing;
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LowPassFilterFloat servo_filter[4];
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Sprayer *sprayer;
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Gripper_Servo *gripper;
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Gripper_EPM *gripper_epm;
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Parachute *parachute;
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SIM_Precland *precland;
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};
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} // namespace SITL
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