mirror of https://github.com/ArduPilot/ardupilot
123 lines
4.6 KiB
C++
123 lines
4.6 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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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef HAL_SIM_SILENTWINGS_ENABLED
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#define HAL_SIM_SILENTWINGS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if HAL_SIM_SILENTWINGS_ENABLED
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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A wrapper for a simulated Silent Wings aircraft.
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*/
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class SilentWings : public Aircraft {
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public:
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SilentWings(const char *frame_str);
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/* Updates the aircraft model by one time step */
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void update(const struct sitl_input &input) override;
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/* Static object creator */
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static Aircraft *create(const char *frame_str) {
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return new SilentWings(frame_str);
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}
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private:
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/* Reply packet sent from SilentWings to ArduPlane */
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struct PACKED fdm_packet {
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unsigned int timestamp; // Millisec Timestamp
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double position_latitude; // Degrees Position latitude,
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double position_longitude; // Degrees longitude,
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float altitude_msl; // m Altitude w.r.t. the sea level
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float altitude_ground; // m Altitude w.r.t. the ground level
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float altitude_ground_45; // m Ground 45 degrees ahead (NOT IMPLEMENTED YET)
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float altitude_ground_forward; // m Ground straight ahead (NOT IMPLEMENTED YET)
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float roll; // Degrees
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float pitch; // Degrees
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float yaw; // Degrees
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float d_roll; // Deg/sec Roll speed
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float d_pitch; // Deg/sec Pitch speed
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float d_yaw; // Deg/sec Yaw speed
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float vx; // m/s Velocity vector in body-axis
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float vy;
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float vz;
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float vx_wind; // m/s Velocity vector in body-axis, relative to the wind
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float vy_wind;
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float vz_wind;
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float v_eas; // m/s Equivalent (indicated) air speed.
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float ax; // m/s^2 Acceleration vector in body axis
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float ay;
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float az;
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float angle_of_attack; // Degrees Angle of attack
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float angle_sideslip; // Degrees Sideslip angle
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float vario; // m/s Total energy-compensated variometer
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float heading; // Degrees Compass heading
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float rate_of_turn; // Deg/sec Rate of turn
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float airpressure; // Pa Local air pressure at aircraft altitude)
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float density; // Air density at aircraft altitude
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float temperature; // Degrees Celcius Air temperature at aircraft altitude
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} pkt;
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struct {
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uint32_t last_report_ms;
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uint32_t data_count;
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uint32_t frame_count;
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} report;
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bool recv_fdm(void);
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void process_packet();
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bool interim_update();
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/* Create and set in/out socket for Silent Wings simulator */
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void set_interface_ports(const char* address, const int port_in, const int port_out) override;
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/* Sends control inputs to the Silent Wings. */
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void send_servos(const struct sitl_input &input);
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/* Timestamp of the latest data packet received from Silent Wings. */
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uint32_t last_data_time_ms;
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/* Timestamp of the first data packet received from Silent Wings. */
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uint32_t first_pkt_timestamp_ms;
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/* Indicates whether first_pkt_timestamp_ms has been initialized (i.e., any packets have been received from Silent Wings. */
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bool inited_first_pkt_timestamp;
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/* ArduPlane's internal time when the first packet from Silent Wings is received. */
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uint64_t time_base_us;
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SocketAPM sock;
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const char *_sw_address = "127.0.0.1";
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int _port_in = 6060;
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int _sw_port = 6070;
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bool home_initialized;
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};
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} // namespace SITL
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#endif // HAL_SIM_SILENTWINGS_ENABLED
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