mirror of https://github.com/ArduPilot/ardupilot
124 lines
3.3 KiB
C++
124 lines
3.3 KiB
C++
//usage:
|
|
//PARAMS:
|
|
// param set AHRS_EKF_TYPE 11
|
|
// param set EAHRS_TYPE 5
|
|
// param set SERIAL4_PROTOCOL 36
|
|
// param set SERIAL4_BAUD 460800
|
|
// sim_vehicle.py -v ArduPlane -D --console --map -A --serial4=sim:ILabs
|
|
#pragma once
|
|
|
|
#include "SIM_Aircraft.h"
|
|
|
|
#include <SITL/SITL.h>
|
|
#include "SIM_SerialDevice.h"
|
|
|
|
namespace SITL
|
|
{
|
|
|
|
class InertialLabs : public SerialDevice
|
|
{
|
|
public:
|
|
|
|
InertialLabs();
|
|
|
|
// update state
|
|
void update(void);
|
|
|
|
private:
|
|
void send_packet(void);
|
|
|
|
struct PACKED vec3_16_t {
|
|
int16_t x,y,z;
|
|
};
|
|
struct PACKED vec3_32_t {
|
|
int32_t x,y,z;
|
|
};
|
|
struct PACKED vec3_u8_t {
|
|
uint8_t x,y,z;
|
|
};
|
|
struct PACKED vec3_u16_t {
|
|
uint16_t x,y,z;
|
|
};
|
|
|
|
struct gnss_extended_info_t {
|
|
uint8_t fix_type;
|
|
uint8_t spoofing_status;
|
|
};
|
|
|
|
struct gnss_info_short_t {
|
|
uint8_t info1;
|
|
uint8_t info2;
|
|
};
|
|
|
|
struct PACKED ILabsPacket {
|
|
uint16_t magic = 0x55AA;
|
|
uint8_t msg_type = 1;
|
|
uint8_t msg_id = 0x95;
|
|
uint16_t msg_len; // total packet length-2
|
|
|
|
// send Table4, 27 messages
|
|
uint8_t num_messages = 27;
|
|
uint8_t messages[27] = {
|
|
0x01, 0x3C, 0x23, 0x21, 0x25, 0x24, 0x07, 0x12, 0x10, 0x58, 0x57, 0x53, 0x4a,
|
|
0x3b, 0x30, 0x32, 0x3e, 0x36, 0x41, 0xc0, 0x28, 0x86, 0x8a, 0x8d, 0x50,
|
|
0x52, 0x5a
|
|
};
|
|
uint32_t gps_ins_time_ms; // ms since start of GPS week for IMU data
|
|
uint16_t gps_week;
|
|
vec3_32_t accel_data_hr; // g * 1e6
|
|
vec3_32_t gyro_data_hr; // deg/s * 1e5
|
|
struct PACKED {
|
|
uint16_t pressure_pa2; // Pascals/2
|
|
int32_t baro_alt; // meters*100
|
|
} baro_data;
|
|
vec3_16_t mag_data; // nT/10
|
|
struct PACKED {
|
|
int16_t yaw; // deg*100
|
|
int16_t pitch; // deg*100
|
|
int16_t roll; // deg*100
|
|
} orientation_angles; // 321 euler order
|
|
vec3_32_t velocity; // m/s * 100
|
|
struct PACKED {
|
|
int32_t lat; // deg*1e7
|
|
int32_t lon; // deg*1e7
|
|
int32_t alt; // m*100, AMSL
|
|
} position;
|
|
vec3_u8_t kf_vel_covariance; // mm/s
|
|
vec3_u16_t kf_pos_covariance;
|
|
uint16_t unit_status;
|
|
gnss_extended_info_t gnss_extended_info;
|
|
uint8_t num_sats;
|
|
struct PACKED {
|
|
int32_t lat; // deg*1e7
|
|
int32_t lon; // deg*1e7
|
|
int32_t alt; // m*100, AMSL
|
|
} gps_position;
|
|
struct PACKED {
|
|
int32_t hor_speed; // m/s*100
|
|
uint16_t track_over_ground; // deg*100
|
|
int32_t ver_speed; // m/s*100
|
|
} gnss_vel_track;
|
|
uint32_t gnss_pos_timestamp; // ms
|
|
gnss_info_short_t gnss_info_short;
|
|
uint8_t gnss_new_data;
|
|
uint8_t gnss_jam_status;
|
|
int32_t differential_pressure; // mbar*1e4
|
|
int16_t true_airspeed; // m/s*100
|
|
vec3_16_t wind_speed; // m/s*100
|
|
uint16_t air_data_status;
|
|
uint16_t supply_voltage; // V*100
|
|
int16_t temperature; // degC*10
|
|
uint16_t unit_status2;
|
|
uint16_t crc;
|
|
} pkt;
|
|
|
|
uint32_t last_pkt_us;
|
|
const uint16_t pkt_rate_hz = 200;
|
|
const uint16_t gps_rate_hz = 10;
|
|
const uint16_t gps_frequency = pkt_rate_hz / gps_rate_hz;
|
|
uint32_t packets_sent;
|
|
};
|
|
|
|
}
|
|
|