mirror of https://github.com/ArduPilot/ardupilot
314 lines
10 KiB
C++
314 lines
10 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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Simulate MicroStrain CX5 GNSS-INS devices
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Usage:
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PARAMS:
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param set AHRS_EKF_TYPE 11
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param set EAHRS_TYPE 2
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param set SERIAL3_PROTOCOL 36
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param set SERIAL3_BAUD 115
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sim_vehicle.py -v Plane -A "--serial3=sim:MicroStrain5" --console --map -DG
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*/
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#include "SIM_MicroStrain.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <GCS_MAVLink/GCS.h>
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using namespace SITL;
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MicroStrain::MicroStrain() :SerialDevice::SerialDevice()
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{
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}
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void MicroStrain::simulation_timeval(struct timeval *tv)
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{
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uint64_t now = AP_HAL::micros64();
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static uint64_t first_usec;
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static struct timeval first_tv;
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if (first_usec == 0) {
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first_usec = now;
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first_tv.tv_sec = AP::sitl()->start_time_UTC;
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}
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*tv = first_tv;
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tv->tv_sec += now / 1000000ULL;
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uint64_t new_usec = tv->tv_usec + (now % 1000000ULL);
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tv->tv_sec += new_usec / 1000000ULL;
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tv->tv_usec = new_usec % 1000000ULL;
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}
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void MicroStrain::generate_checksum(MicroStrain_Packet& packet)
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{
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uint8_t checksumByte1 = 0;
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uint8_t checksumByte2 = 0;
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for (int i = 0; i < 4; i++) {
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checksumByte1 += packet.header[i];
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checksumByte2 += checksumByte1;
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}
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for (int i = 0; i < packet.header[3]; i++) {
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checksumByte1 += packet.payload[i];
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checksumByte2 += checksumByte1;
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}
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packet.checksum[0] = checksumByte1;
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packet.checksum[1] = checksumByte2;
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}
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void MicroStrain::send_packet(MicroStrain_Packet packet)
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{
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generate_checksum(packet);
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write_to_autopilot((char *)&packet.header, sizeof(packet.header));
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write_to_autopilot((char *)&packet.payload, packet.payload_size);
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write_to_autopilot((char *)&packet.checksum, sizeof(packet.checksum));
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}
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void MicroStrain::send_imu_packet(void)
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{
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const auto &fdm = _sitl->state;
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MicroStrain_Packet packet;
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struct timeval tv;
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simulation_timeval(&tv);
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if (start_us == 0) {
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start_us = tv.tv_usec * 1000;
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}
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packet.header[0] = 0x75; // Sync One
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packet.header[1] = 0x65; // Sync Two
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packet.header[2] = 0x80; // INS Descriptor
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// Add ambient pressure field
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packet.payload[packet.payload_size++] = 0x06; // Ambient Pressure Field Size
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packet.payload[packet.payload_size++] = 0x17; // Descriptor
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float pressure_Pa = AP_Baro::get_pressure_for_alt_amsl(fdm.altitude);
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put_float(packet, pressure_Pa*0.001 + rand_float() * 0.1);
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// Add scaled magnetometer field
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packet.payload[packet.payload_size++] = 0x0E; // Scaled Magnetometer Field Size
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packet.payload[packet.payload_size++] = 0x06; // Descriptor
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put_float(packet, fdm.bodyMagField.x*0.001);
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put_float(packet, fdm.bodyMagField.y*0.001);
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put_float(packet, fdm.bodyMagField.z*0.001);
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// Add scaled accelerometer field
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packet.payload[packet.payload_size++] = 0x0E; // Scaled Accelerometer Field Size
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packet.payload[packet.payload_size++] = 0x04; // Descriptor
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put_float(packet, fdm.xAccel / GRAVITY_MSS);
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put_float(packet, fdm.yAccel / GRAVITY_MSS);
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put_float(packet, fdm.zAccel / GRAVITY_MSS);
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// Add scaled gyro field
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const float gyro_noise = 0.05;
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packet.payload[packet.payload_size++] = 0x0E; // Scaled Gyro Field Size
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packet.payload[packet.payload_size++] = 0x05; // Descriptor
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put_float(packet, radians(fdm.rollRate + rand_float() * gyro_noise));
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put_float(packet, radians(fdm.pitchRate + rand_float() * gyro_noise));
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put_float(packet, radians(fdm.yawRate + rand_float() * gyro_noise));
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// Add CF Quaternion field
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packet.payload[packet.payload_size++] = 0x12; // CF Quaternion Field Size
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packet.payload[packet.payload_size++] = 0x0A; // Descriptor
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put_float(packet, fdm.quaternion.q1);
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put_float(packet, fdm.quaternion.q2);
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put_float(packet, fdm.quaternion.q3);
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put_float(packet, fdm.quaternion.q4);
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packet.header[3] = packet.payload_size;
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send_packet(packet);
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}
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void MicroStrain5::send_gnss_packet(void)
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{
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const auto &fdm = _sitl->state;
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MicroStrain_Packet packet;
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struct timeval tv;
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simulation_timeval(&tv);
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packet.header[0] = 0x75; // Sync One
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packet.header[1] = 0x65; // Sync Two
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packet.header[2] = 0x81; // GNSS Descriptor
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// Add GPS Timestamp
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packet.payload[packet.payload_size++] = 0x0E; // GPS Time Field Size
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packet.payload[packet.payload_size++] = 0xD3; // Descriptor
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put_double(packet, (double) tv.tv_sec);
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put_int(packet, tv.tv_usec / (AP_MSEC_PER_WEEK * 1000000ULL));
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put_int(packet, 0);
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// Add GNSS Fix Information
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packet.payload[packet.payload_size++] = 0x08; // GNSS Fix Field Size
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packet.payload[packet.payload_size++] = 0x0B; // Descriptor
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packet.payload[packet.payload_size++] = 0x00; // Fix type
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packet.payload[packet.payload_size++] = 19; // Sat count
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put_int(packet, 0); // Fix flags
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put_int(packet, 0); // Valid flags
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// Add GNSS LLH position
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packet.payload[packet.payload_size++] = 0x2C; // GNSS LLH Field Size
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packet.payload[packet.payload_size++] = 0x03; // Descriptor
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put_double(packet, fdm.latitude);
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put_double(packet, fdm.longitude);
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put_double(packet, 0); // Height above ellipsoid - unused
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put_double(packet, fdm.altitude);
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put_float(packet, 0.5f); // Horizontal accuracy
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put_float(packet, 0.5f); // Vertical accuracy
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put_int(packet, 31); // Valid flags
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// Add DOP Data
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packet.payload[packet.payload_size++] = 0x20; // DOP Field Size
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packet.payload[packet.payload_size++] = 0x07; // Descriptor
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put_float(packet, 0); // GDOP
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put_float(packet, 0); // PDOP
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put_float(packet, 0); // HDOP
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put_float(packet, 0); // VDOP
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put_float(packet, 0); // TDOP
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put_float(packet, 0); // NDOP
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put_float(packet, 0); // EDOP
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put_int(packet, 127);
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// Add GNSS NED velocity
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packet.payload[packet.payload_size++] = 0x24; // GNSS NED Velocity Field Size
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packet.payload[packet.payload_size++] = 0x05; // Descriptor
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put_float(packet, fdm.speedN);
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put_float(packet, fdm.speedE);
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put_float(packet, fdm.speedD);
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put_float(packet, 0); //speed - unused
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put_float(packet, 0); //ground speed - unused
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put_float(packet, 0); //heading - unused
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put_float(packet, 0.25f); //speed accuracy
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put_float(packet, 0); //heading accuracy - unused
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put_int(packet, 31); //valid flags
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packet.header[3] = packet.payload_size;
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send_packet(packet);
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}
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void MicroStrain5::send_filter_packet(void)
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{
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const auto &fdm = _sitl->state;
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MicroStrain_Packet packet;
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struct timeval tv;
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simulation_timeval(&tv);
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packet.header[0] = 0x75; // Sync One
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packet.header[1] = 0x65; // Sync Two
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packet.header[2] = 0x82; // Filter Descriptor
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// Add GPS Timestamp Shared Data
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packet.payload[packet.payload_size++] = 0x0E; // GPS Timestamp Field Size
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packet.payload[packet.payload_size++] = 0xD3; // Descriptor
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put_double(packet, (double) tv.tv_usec / 1e6);
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put_int(packet, tv.tv_usec / (AP_MSEC_PER_WEEK * 1000000ULL));
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put_int(packet, 0x0001);
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// Add GNSS Filter velocity
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packet.payload[packet.payload_size++] = 0x10; // GNSS Velocity Field Size
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packet.payload[packet.payload_size++] = 0x02; // Descriptor
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put_float(packet, fdm.speedN);
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put_float(packet, fdm.speedE);
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put_float(packet, fdm.speedD);
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put_int(packet, 0x0001);
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// Add Filter LLH position
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packet.payload[packet.payload_size++] = 0x1C; // Filter LLH Field Size
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packet.payload[packet.payload_size++] = 0x01; // Descriptor
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put_double(packet, fdm.latitude);
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put_double(packet, fdm.longitude);
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put_double(packet, 0); // Height above ellipsoid - unused
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put_int(packet, 0x0001); // Valid flags
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// Add Filter State
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packet.payload[packet.payload_size++] = 0x08; // Filter State Field Size
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packet.payload[packet.payload_size++] = 0x10; // Descriptor
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put_int(packet, 0x02); // Filter state (Running, Solution Valid)
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put_int(packet, 0x03); // Dynamics mode (Airborne)
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put_int(packet, 0); // Filter flags (None, no warnings)
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packet.header[3] = packet.payload_size;
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send_packet(packet);
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}
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/*
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send MicroStrain data
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*/
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void MicroStrain::update(void)
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{
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if (!init_sitl_pointer()) {
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return;
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}
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uint32_t ms_between_imu_packets = 40;
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uint32_t ms_between_gnss_packets = 500;
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uint32_t ms_between_filter_packets = 40;
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uint32_t now = AP_HAL::millis();
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if (now - last_imu_pkt_ms >= ms_between_imu_packets) {
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last_imu_pkt_ms = now;
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send_imu_packet();
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}
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if (now - last_gnss_pkt_ms >= ms_between_gnss_packets) {
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last_gnss_pkt_ms = now;
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send_gnss_packet();
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}
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if (now - last_filter_pkt_ms >= ms_between_filter_packets) {
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last_filter_pkt_ms = now;
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send_filter_packet();
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}
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}
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void MicroStrain::put_float(MicroStrain_Packet &packet, float f)
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{
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uint32_t fbits = 0;
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memcpy(&fbits, &f, sizeof(fbits));
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put_be32_ptr(&packet.payload[packet.payload_size], fbits);
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packet.payload_size += sizeof(float);
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}
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void MicroStrain::put_double(MicroStrain_Packet &packet, double d)
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{
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uint64_t dbits = 0;
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memcpy(&dbits, &d, sizeof(dbits));
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put_be64_ptr(&packet.payload[packet.payload_size], dbits);
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packet.payload_size += sizeof(double);
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}
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void MicroStrain::put_int(MicroStrain_Packet &packet, uint16_t t)
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{
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put_be16_ptr(&packet.payload[packet.payload_size], t);
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packet.payload_size += sizeof(uint16_t);
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}
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