mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.9 KiB
C++
115 lines
3.9 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
#include "AP_Beacon_SITL.h"
|
|
#include <stdio.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define NUM_BEACONS 4
|
|
/*
|
|
* Define a rectangular pattern of beacons with the pattern centroid located at the beacon origin as defined by the following params:
|
|
*
|
|
* BCN_ALT - Height above the WGS-84 geoid (m)
|
|
* BCN_LATITUDE - WGS-84 latitude (deg)
|
|
* BCN_LONGITUDE - WGS-84 longitude (deg)
|
|
*
|
|
* The spacing between beacons in the North/South and East/West directions is defined by the following parameters:
|
|
*/
|
|
#define BEACON_SPACING_NORTH 10.0
|
|
#define BEACON_SPACING_EAST 20.0
|
|
|
|
// The centroid of the pattern can be moved using using the following parameters:
|
|
#define ORIGIN_OFFSET_NORTH 2.5 // shifts beacon pattern centroid North (m)
|
|
#define ORIGIN_OFFSET_EAST 5.0 // shifts beacon pattern centroid East (m)
|
|
|
|
// constructor
|
|
AP_Beacon_SITL::AP_Beacon_SITL(AP_Beacon &frontend) :
|
|
AP_Beacon_Backend(frontend),
|
|
sitl(AP::sitl())
|
|
{
|
|
}
|
|
|
|
// return true if sensor is basically healthy (we are receiving data)
|
|
bool AP_Beacon_SITL::healthy()
|
|
{
|
|
// healthy if we have parsed a message within the past 300ms
|
|
return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS);
|
|
}
|
|
|
|
// update the state of the sensor
|
|
void AP_Beacon_SITL::update(void)
|
|
{
|
|
uint32_t now = AP_HAL::millis();
|
|
if (now - last_update_ms < 10) {
|
|
return;
|
|
}
|
|
|
|
uint8_t beacon_id = next_beacon;
|
|
next_beacon = (next_beacon+1) % NUM_BEACONS;
|
|
|
|
// truth location of the flight vehicle
|
|
Location current_loc;
|
|
current_loc.lat = sitl->state.latitude * 1.0e7f;
|
|
current_loc.lng = sitl->state.longitude * 1.0e7f;
|
|
current_loc.alt = sitl->state.altitude * 1.0e2;
|
|
|
|
// where the beacon system origin is located
|
|
Location beacon_origin;
|
|
beacon_origin.lat = get_beacon_origin_lat() * 1.0e7f;
|
|
beacon_origin.lng = get_beacon_origin_lon() * 1.0e7f;
|
|
beacon_origin.alt = get_beacon_origin_alt() * 1.0e2;
|
|
|
|
// position of each beacon
|
|
Location beacon_loc = beacon_origin;
|
|
switch (beacon_id) {
|
|
case 0:
|
|
// NE corner
|
|
beacon_loc.offset(ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
|
|
break;
|
|
case 1:
|
|
// SE corner
|
|
beacon_loc.offset(ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
|
|
break;
|
|
case 2:
|
|
// SW corner
|
|
beacon_loc.offset(ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
|
|
break;
|
|
case 3:
|
|
// NW corner
|
|
beacon_loc.offset(ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
|
|
break;
|
|
}
|
|
|
|
const Vector2f beac_diff = beacon_origin.get_distance_NE(beacon_loc);
|
|
const Vector2f veh_diff = beacon_origin.get_distance_NE(current_loc);
|
|
|
|
Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2f);
|
|
Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2f);
|
|
Vector3f beac_veh_offset = veh_pos3d - beac_pos3d;
|
|
|
|
set_beacon_position(beacon_id, beac_pos3d);
|
|
set_beacon_distance(beacon_id, beac_veh_offset.length());
|
|
set_vehicle_position(veh_pos3d, 0.5f);
|
|
last_update_ms = now;
|
|
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD
|