mirror of https://github.com/ArduPilot/ardupilot
404 lines
11 KiB
Python
404 lines
11 KiB
Python
import euclid, math
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import os, pexpect, sys, time, random
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from subprocess import call, check_call,Popen, PIPE
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def RPY_to_XYZ(roll, pitch, yaw, length):
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'''convert roll, pitch and yaw in degrees to
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Vector3 in X, Y and Z
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inputs:
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roll, pitch and yaw are in degrees
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yaw == 0 when pointing North
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roll == zero when horizontal. +ve roll means tilting to the right
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pitch == zero when horizontal, +ve pitch means nose is pointing upwards
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length is in an arbitrary linear unit.
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When RPY is (0, 0, 0) then length represents distance upwards
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outputs:
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Vector3:
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X is in units along latitude. +ve X means going North
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Y is in units along longitude +ve Y means going East
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Z is altitude in units (+ve is up)
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test suite:
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>>> RPY_to_XYZ(0, 0, 0, 1)
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Vector3(0.00, 0.00, 1.00)
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>>> RPY_to_XYZ(0, 0, 0, 2)
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Vector3(0.00, 0.00, 2.00)
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>>> RPY_to_XYZ(90, 0, 0, 1)
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Vector3(0.00, 1.00, 0.00)
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>>> RPY_to_XYZ(-90, 0, 0, 1)
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Vector3(0.00, -1.00, 0.00)
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>>> RPY_to_XYZ(0, 90, 0, 1)
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Vector3(-1.00, 0.00, 0.00)
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>>> RPY_to_XYZ(0, -90, 0, 1)
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Vector3(1.00, 0.00, 0.00)
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>>> RPY_to_XYZ(90, 0, 180, 1)
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Vector3(-0.00, -1.00, 0.00)
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>>> RPY_to_XYZ(-90, 0, 180, 1)
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Vector3(0.00, 1.00, 0.00)
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>>> RPY_to_XYZ(0, 90, 180, 1)
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Vector3(1.00, -0.00, 0.00)
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>>> RPY_to_XYZ(0, -90, 180, 1)
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Vector3(-1.00, 0.00, 0.00)
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>>> RPY_to_XYZ(90, 0, 90, 1)
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Vector3(-1.00, 0.00, 0.00)
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>>> RPY_to_XYZ(-90, 0, 90, 1)
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Vector3(1.00, -0.00, 0.00)
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>>> RPY_to_XYZ(90, 0, 270, 1)
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Vector3(1.00, -0.00, 0.00)
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>>> RPY_to_XYZ(-90, 0, 270, 1)
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Vector3(-1.00, 0.00, 0.00)
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>>> RPY_to_XYZ(0, 90, 90, 1)
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Vector3(-0.00, -1.00, 0.00)
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>>> RPY_to_XYZ(0, -90, 90, 1)
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Vector3(0.00, 1.00, 0.00)
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>>> RPY_to_XYZ(0, 90, 270, 1)
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Vector3(0.00, 1.00, 0.00)
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>>> RPY_to_XYZ(0, -90, 270, 1)
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Vector3(-0.00, -1.00, 0.00)
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'''
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v = euclid.Vector3(0, 0, length)
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v = euclid.Quaternion.new_rotate_euler(-math.radians(pitch), 0, -math.radians(roll)) * v
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v = euclid.Quaternion.new_rotate_euler(0, math.radians(yaw), 0) * v
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return v
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def m2ft(x):
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'''meters to feet'''
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return float(x) / 0.3048
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def ft2m(x):
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'''feet to meters'''
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return float(x) * 0.3048
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def kt2mps(x):
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return x * 0.514444444
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def mps2kt(x):
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return x / 0.514444444
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def topdir():
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'''return top of git tree where autotest is running from'''
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d = os.path.dirname(os.path.realpath(__file__))
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assert(os.path.basename(d)=='pysim')
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d = os.path.dirname(d)
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assert(os.path.basename(d)=='autotest')
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d = os.path.dirname(d)
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assert(os.path.basename(d)=='Tools')
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d = os.path.dirname(d)
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return d
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def reltopdir(path):
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'''return a path relative to topdir()'''
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return os.path.normpath(os.path.join(topdir(), path))
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def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
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'''run a shell command'''
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if show:
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print("Running: '%s' in '%s'" % (cmd, dir))
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if output:
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return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
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elif checkfail:
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return check_call(cmd, shell=True, cwd=dir)
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else:
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return call(cmd, shell=True, cwd=dir)
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def rmfile(path):
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'''remove a file if it exists'''
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try:
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os.unlink(path)
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except Exception:
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pass
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def deltree(path):
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'''delete a tree of files'''
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run_cmd('rm -rf %s' % path)
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def build_SIL(atype):
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'''build desktop SIL'''
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run_cmd("make clean sitl",
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dir=reltopdir(atype),
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checkfail=True)
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return True
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def build_AVR(atype, board='mega2560'):
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'''build AVR binaries'''
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config = open(reltopdir('config.mk'), mode='w')
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config.write('''
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BOARD=%s
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PORT=/dev/null
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''' % board)
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config.close()
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run_cmd("make clean", dir=reltopdir(atype), checkfail=True)
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run_cmd("make", dir=reltopdir(atype), checkfail=True)
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return True
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# list of pexpect children to close on exit
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close_list = []
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def pexpect_autoclose(p):
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'''mark for autoclosing'''
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global close_list
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close_list.append(p)
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def pexpect_close(p):
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'''close a pexpect child'''
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global close_list
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try:
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p.close()
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except Exception:
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pass
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try:
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p.close(force=True)
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except Exception:
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pass
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if p in close_list:
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close_list.remove(p)
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def pexpect_close_all():
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'''close all pexpect children'''
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global close_list
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for p in close_list[:]:
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pexpect_close(p)
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def pexpect_drain(p):
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'''drain any pending input'''
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try:
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p.read_nonblocking(1000, timeout=0)
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except pexpect.TIMEOUT:
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pass
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def start_SIL(atype, valgrind=False, wipe=False, CLI=False, height=None):
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'''launch a SIL instance'''
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cmd=""
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if valgrind and os.path.exists('/usr/bin/valgrind'):
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cmd += 'valgrind -q --log-file=%s-valgrind.log ' % atype
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cmd += reltopdir('tmp/%s.build/%s.elf' % (atype, atype))
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if wipe:
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cmd += ' -w'
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if CLI:
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cmd += ' -s'
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if height is not None:
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cmd += ' -H %u' % height
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ret = pexpect.spawn(cmd, logfile=sys.stdout, timeout=5)
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ret.delaybeforesend = 0
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pexpect_autoclose(ret)
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ret.expect('Waiting for connection')
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return ret
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def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
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options=None, logfile=sys.stdout):
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'''launch mavproxy connected to a SIL instance'''
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global close_list
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MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
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cmd = MAVPROXY + ' --master=%s --out=127.0.0.1:14550' % master
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if setup:
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cmd += ' --setup'
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if aircraft is None:
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aircraft = 'test.%s' % atype
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cmd += ' --aircraft=%s' % aircraft
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if options is not None:
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cmd += ' ' + options
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ret = pexpect.spawn(cmd, logfile=logfile, timeout=60)
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ret.delaybeforesend = 0
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pexpect_autoclose(ret)
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return ret
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def expect_setup_callback(e, callback):
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'''setup a callback that is called once a second while waiting for
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patterns'''
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def _expect_callback(pattern, timeout=e.timeout):
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tstart = time.time()
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while time.time() < tstart + timeout:
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try:
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ret = e.expect_saved(pattern, timeout=1)
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return ret
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except pexpect.TIMEOUT:
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e.expect_user_callback(e)
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pass
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print("Timed out looking for %s" % pattern)
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raise pexpect.TIMEOUT(timeout)
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e.expect_user_callback = callback
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e.expect_saved = e.expect
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e.expect = _expect_callback
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def mkdir_p(dir):
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'''like mkdir -p'''
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if not dir:
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return
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if dir.endswith("/"):
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mkdir_p(dir[:-1])
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return
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if os.path.isdir(dir):
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return
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mkdir_p(os.path.dirname(dir))
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os.mkdir(dir)
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def loadfile(fname):
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'''load a file as a string'''
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f = open(fname, mode='r')
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r = f.read()
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f.close()
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return r
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def lock_file(fname):
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'''lock a file'''
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import fcntl
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f = open(fname, mode='w')
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try:
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fcntl.lockf(f, fcntl.LOCK_EX | fcntl.LOCK_NB)
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except Exception:
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return None
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return f
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def check_parent(parent_pid=os.getppid()):
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'''check our parent process is still alive'''
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try:
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os.kill(parent_pid, 0)
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except Exception:
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print("Parent had finished - exiting")
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sys.exit(1)
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def EarthRatesToBodyRates(roll, pitch, yaw,
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rollRate, pitchRate, yawRate):
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'''convert the angular velocities from earth frame to
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body frame. Thanks to James Goppert for the formula
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all inputs and outputs are in degrees
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returns a tuple, (p,q,r)
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'''
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from math import radians, degrees, sin, cos, tan
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phi = radians(roll)
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theta = radians(pitch)
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phiDot = radians(rollRate)
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thetaDot = radians(pitchRate)
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psiDot = radians(yawRate)
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p = phiDot - psiDot*sin(theta)
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q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta)
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r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot
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return (degrees(p), degrees(q), degrees(r))
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def BodyRatesToEarthRates(roll, pitch, yaw, pDeg, qDeg, rDeg):
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'''convert the angular velocities from body frame to
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earth frame.
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all inputs and outputs are in degrees
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returns a tuple, (rollRate,pitchRate,yawRate)
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'''
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from math import radians, degrees, sin, cos, tan, fabs
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p = radians(pDeg)
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q = radians(qDeg)
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r = radians(rDeg)
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phi = radians(roll)
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theta = radians(pitch)
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phiDot = p + tan(theta)*(q*sin(phi) + r*cos(phi))
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thetaDot = q*cos(phi) - r*sin(phi)
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if fabs(cos(theta)) < 1.0e-20:
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theta += 1.0e-10
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psiDot = (q*sin(phi) + r*cos(phi))/cos(theta)
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return (degrees(phiDot), degrees(thetaDot), degrees(psiDot))
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class Wind(object):
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'''a wind generation object'''
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def __init__(self, windstring, cross_section=0.1):
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a = windstring.split(',')
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if len(a) != 3:
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raise RuntimeError("Expected wind in speed,direction,turbulance form, not %s" % windstring)
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self.speed = float(a[0]) # m/s
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self.direction = float(a[1]) # direction the wind is going in
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self.turbulance= float(a[2]) # turbulance factor (standard deviation)
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# the cross-section of the aircraft to wind. This is multiplied by the
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# difference in the wind and the velocity of the aircraft to give the acceleration
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self.cross_section = cross_section
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# the time constant for the turbulance - the average period of the
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# changes over time
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self.turbulance_time_constant = 5.0
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# wind time record
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self.tlast = time.time()
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# initial turbulance multiplier
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self.turbulance_mul = 1.0
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def current(self, deltat=None):
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'''return current wind speed and direction as a tuple
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speed is in m/s, direction in degrees
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'''
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if deltat is None:
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tnow = time.time()
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deltat = tnow - self.tlast
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self.tlast = tnow
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# update turbulance random walk
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w_delta = math.sqrt(deltat)*(1.0-random.gauss(1.0, self.turbulance))
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w_delta -= (self.turbulance_mul-1.0)*(deltat/self.turbulance_time_constant)
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self.turbulance_mul += w_delta
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speed = self.speed * math.fabs(self.turbulance_mul)
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return (speed, self.direction)
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def accel(self, velocity, deltat=None):
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'''return current wind acceleration in ground frame. The
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velocity is a Vector3 of the current velocity of the aircraft
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in earth frame, m/s'''
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(speed, direction) = self.current(deltat=deltat)
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# wind vector
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v = euclid.Vector3(speed, 0, 0)
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wind = euclid.Quaternion.new_rotate_euler(0, math.radians(direction), 0) * v
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# relative wind vector
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relwind = wind - velocity
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# add in cross-section effect
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a = relwind * self.cross_section
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return a
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if __name__ == "__main__":
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import doctest
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doctest.testmod()
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