mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.4 KiB
C++
94 lines
2.4 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/>.
|
|
*/
|
|
/*
|
|
simulator connection for Scrimmage Simulator
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
|
|
#ifndef HAL_SIM_SCRIMMAGE_ENABLED
|
|
#define HAL_SIM_SCRIMMAGE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
|
|
#endif
|
|
|
|
#if HAL_SIM_SCRIMMAGE_ENABLED
|
|
|
|
#include <string>
|
|
|
|
#include <AP_HAL/utility/Socket_native.h>
|
|
|
|
#include "SIM_Aircraft.h"
|
|
|
|
namespace SITL {
|
|
|
|
/*
|
|
a last_letter simulator
|
|
*/
|
|
class Scrimmage : public Aircraft {
|
|
public:
|
|
Scrimmage(const char *frame_str);
|
|
|
|
/* update model by one time step */
|
|
void update(const struct sitl_input &input) override;
|
|
|
|
/* static object creator */
|
|
static Aircraft *create(const char *frame_str) {
|
|
return NEW_NOTHROW Scrimmage(frame_str);
|
|
}
|
|
|
|
/* Create and set in/out socket for extenal simulator */
|
|
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
|
|
|
|
private:
|
|
uint16_t fdm_port_in;
|
|
uint16_t fdm_port_out;
|
|
const char* fdm_address;
|
|
|
|
/*
|
|
packet sent to Scrimmage from ArduPilot
|
|
*/
|
|
static const int MAX_NUM_SERVOS = 16;
|
|
struct servo_packet {
|
|
uint16_t servos[MAX_NUM_SERVOS];
|
|
};
|
|
|
|
/*
|
|
state packet sent from Scrimmage to ArduPilot
|
|
*/
|
|
struct fdm_packet {
|
|
uint64_t timestamp_us; // simulation time in microseconds
|
|
double latitude, longitude;
|
|
double altitude;
|
|
double heading;
|
|
double speedN, speedE, speedD;
|
|
double xAccel, yAccel, zAccel;
|
|
double rollRate, pitchRate, yawRate;
|
|
double roll, pitch, yaw;
|
|
double airspeed;
|
|
};
|
|
|
|
void recv_fdm(const struct sitl_input &input);
|
|
void send_servos(const struct sitl_input &input);
|
|
|
|
uint64_t prev_timestamp_us;
|
|
SocketAPM_native recv_sock;
|
|
SocketAPM_native send_sock;
|
|
};
|
|
|
|
} // namespace SITL
|
|
|
|
#endif // HAL_SIM_SCRIMMAGE_ENABLED
|