ardupilot/libraries/SITL/SITL.h

66 lines
1.8 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __SITL_H__
#define __SITL_H__
#include <AP_Param.h>
#include <AP_Common.h>
#include <AP_Math.h>
#include <GCS_MAVLink.h>
struct sitl_fdm {
// this is the packet sent by the simulator
// to the APM executable to update the simulator state
// All values are little-endian
double latitude, longitude; // degrees
double altitude; // MSL
double heading; // degrees
double speedN, speedE; // m/s
double xAccel, yAccel, zAccel; // m/s/s in body frame
double rollRate, pitchRate, yawRate; // degrees/s/s in earth frame
double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
double airspeed; // m/s
uint32_t magic; // 0x4c56414e
};
class SITL
{
public:
SITL() {
AP_Param::setup_object_defaults(this, var_info);
}
struct sitl_fdm state;
static const struct AP_Param::GroupInfo var_info[];
// noise levels for simulated sensors
AP_Float baro_noise; // in Pascals
AP_Float gyro_noise; // in degrees/second
AP_Float accel_noise; // in m/s/s
AP_Float mag_noise; // in mag units (earth field is 818)
AP_Float aspd_noise; // in m/s
AP_Float drift_speed; // degrees/second/minute
AP_Float drift_time; // period in minutes
AP_Float engine_mul; // engine multiplier
AP_Int8 gps_disable; // disable simulated GPS
AP_Int8 gps_delay; // delay in samples
// wind control
AP_Float wind_speed;
AP_Float wind_direction;
AP_Float wind_turbulance;
void simstate_send(mavlink_channel_t chan);
// 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);
};
#endif // __SITL_H__