mirror of https://github.com/ArduPilot/ardupilot
493 lines
16 KiB
C++
493 lines
16 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Common/Location.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include "SIM_Buzzer.h"
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#include "SIM_Gripper_EPM.h"
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#include "SIM_Gripper_Servo.h"
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#include "SIM_I2C.h"
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#include "SIM_SPI.h"
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#include "SIM_Parachute.h"
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#include "SIM_Precland.h"
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#include "SIM_Sprayer.h"
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#include "SIM_ToneAlarm.h"
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#include "SIM_EFI_MegaSquirt.h"
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#include "SIM_RichenPower.h"
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#include "SIM_FETtecOneWireESC.h"
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#include "SIM_IntelligentEnergy24.h"
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#include "SIM_Ship.h"
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#include <AP_RangeFinder/AP_RangeFinder.h>
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namespace SITL {
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enum class LedLayout {
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ROWS=0,
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LUMINOUSBEE=1,
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};
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struct vector3f_array {
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uint16_t length;
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Vector3f *data;
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};
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struct float_array {
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uint16_t length;
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float *data;
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};
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struct sitl_fdm {
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// this is the structure passed between FDM models and the main SITL code
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uint64_t timestamp_us;
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Location home;
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double latitude, longitude; // degrees
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double altitude; // MSL
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double heading; // degrees
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double speedN, speedE, speedD; // m/s
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double xAccel, yAccel, zAccel; // m/s/s in body frame
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double rollRate, pitchRate, yawRate; // degrees/s in body frame
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double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
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Quaternion quaternion;
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double airspeed; // m/s
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Vector3f velocity_air_bf; // velocity relative to airmass, body frame
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double battery_voltage; // Volts
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double battery_current; // Amps
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double battery_remaining; // Ah, if non-zero capacity
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uint8_t num_motors;
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uint8_t vtol_motor_start;
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float rpm[12]; // RPM of all motors
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uint8_t rcin_chan_count;
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float rcin[12]; // RC input 0..1
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double range; // rangefinder value
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Vector3f bodyMagField; // Truth XYZ magnetic field vector in body-frame. Includes motor interference. Units are milli-Gauss.
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Vector3f angAccel; // Angular acceleration in degrees/s/s about the XYZ body axes
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struct {
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// data from simulated laser scanner, if available
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struct vector3f_array points;
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struct float_array ranges;
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} scanner;
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float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
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float airspeed_raw_pressure[2];
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struct {
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float speed;
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float direction;
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} wind_vane_apparent;
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bool is_lock_step_scheduled;
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};
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// number of rc output channels
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#define SITL_NUM_CHANNELS 16
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class SIM {
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public:
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SIM() {
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// set a default compass offset
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for (uint8_t i = 0; i < HAL_COMPASS_MAX_SENSORS; i++) {
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mag_ofs[i].set(Vector3f(5, 13, -18));
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}
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AP_Param::setup_object_defaults(this, var_info);
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AP_Param::setup_object_defaults(this, var_info2);
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AP_Param::setup_object_defaults(this, var_info3);
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AP_Param::setup_object_defaults(this, var_gps);
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AP_Param::setup_object_defaults(this, var_mag);
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AP_Param::setup_object_defaults(this, var_ins);
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#ifdef SFML_JOYSTICK
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AP_Param::setup_object_defaults(this, var_sfml_joystick);
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#endif // SFML_JOYSTICK
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for (uint8_t i=0; i<BARO_MAX_INSTANCES; i++) {
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AP_Param::setup_object_defaults(&baro[i], baro[i].var_info);
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}
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if (_singleton != nullptr) {
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AP_HAL::panic("Too many SITL instances");
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}
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_singleton = this;
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}
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/* Do not allow copies */
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SIM(const SIM &other) = delete;
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SIM &operator=(const SIM&) = delete;
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static SIM *_singleton;
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static SIM *get_singleton() { return _singleton; }
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enum SITL_RCFail {
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SITL_RCFail_None = 0,
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SITL_RCFail_NoPulses = 1,
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SITL_RCFail_Throttle950 = 2,
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};
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enum GPSType {
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GPS_TYPE_NONE = 0,
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GPS_TYPE_UBLOX = 1,
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GPS_TYPE_NMEA = 5,
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GPS_TYPE_SBP = 6,
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GPS_TYPE_FILE = 7,
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GPS_TYPE_NOVA = 8,
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GPS_TYPE_SBP2 = 9,
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};
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enum GPSHeading {
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GPS_HEADING_NONE = 0,
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GPS_HEADING_HDT = 1,
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GPS_HEADING_THS = 2,
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};
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struct sitl_fdm state;
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// loop update rate in Hz
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uint16_t update_rate_hz;
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// throttle when motors are active
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float throttle;
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// height above ground
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float height_agl;
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static const struct AP_Param::GroupInfo var_info[];
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static const struct AP_Param::GroupInfo var_info2[];
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static const struct AP_Param::GroupInfo var_info3[];
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static const struct AP_Param::GroupInfo var_gps[];
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static const struct AP_Param::GroupInfo var_mag[];
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static const struct AP_Param::GroupInfo var_ins[];
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#ifdef SFML_JOYSTICK
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static const struct AP_Param::GroupInfo var_sfml_joystick[];
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#endif //SFML_JOYSTICK
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// Board Orientation (and inverse)
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Matrix3f ahrs_rotation;
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Matrix3f ahrs_rotation_inv;
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AP_Float arspd_noise[2]; // pressure noise
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AP_Float arspd_fail[2]; // airspeed value in m/s to fail to
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AP_Float arspd_fail_pressure[2]; // pitot tube failure pressure in Pa
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AP_Float arspd_fail_pitot_pressure[2]; // pitot tube failure pressure in Pa
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AP_Float arspd_offset[2]; // airspeed sensor offset in m/s
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AP_Float mag_noise; // in mag units (earth field is 818)
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AP_Vector3f mag_mot; // in mag units per amp
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AP_Vector3f mag_ofs[HAL_COMPASS_MAX_SENSORS]; // in mag units
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AP_Vector3f mag_diag[HAL_COMPASS_MAX_SENSORS]; // diagonal corrections
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AP_Vector3f mag_offdiag[HAL_COMPASS_MAX_SENSORS]; // off-diagonal corrections
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AP_Int8 mag_orient[HAL_COMPASS_MAX_SENSORS]; // external compass orientation
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AP_Int8 mag_fail[HAL_COMPASS_MAX_SENSORS]; // fail magnetometer, 1 for no data, 2 for freeze
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AP_Float servo_speed; // servo speed in seconds
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AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance
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AP_Float sonar_noise; // in metres
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AP_Float sonar_scale; // meters per volt
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AP_Float drift_speed; // degrees/second/minute
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AP_Float drift_time; // period in minutes
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AP_Float engine_mul; // engine multiplier
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AP_Int8 engine_fail; // engine servo to fail (0-7)
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AP_Float gps_noise[2]; // amplitude of the gps altitude error
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AP_Int16 gps_lock_time[2]; // delay in seconds before GPS gets lock
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AP_Int16 gps_alt_offset[2]; // gps alt error
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AP_Int8 gps_disable[2]; // disable simulated GPS
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AP_Int8 gps_delay[2]; // delay in samples
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AP_Int8 gps_type[2]; // see enum GPSType
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AP_Float gps_byteloss[2];// byte loss as a percent
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AP_Int8 gps_numsats[2]; // number of visible satellites
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AP_Vector3f gps_glitch[2]; // glitch offsets in lat, lon and altitude
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AP_Int8 gps_hertz[2]; // GPS update rate in Hz
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AP_Int8 gps_hdg_enabled[2]; // enable the output of a NMEA heading HDT sentence or UBLOX RELPOSNED
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AP_Float gps_drift_alt[2]; // altitude drift error
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AP_Vector3f gps_pos_offset[2]; // XYZ position of the GPS antenna phase centre relative to the body frame origin (m)
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AP_Float gps_accuracy[2];
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AP_Vector3f gps_vel_err[2]; // Velocity error offsets in NED (x = N, y = E, z = D)
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// initial offset on GPS lat/lon, used to shift origin
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AP_Float gps_init_lat_ofs;
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AP_Float gps_init_lon_ofs;
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AP_Float gps_init_alt_ofs;
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AP_Float batt_voltage; // battery voltage base
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AP_Float batt_capacity_ah; // battery capacity in Ah
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AP_Int8 rc_fail; // fail RC input
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AP_Int8 rc_chancount; // channel count
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AP_Int8 float_exception; // enable floating point exception checks
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AP_Int8 flow_enable; // enable simulated optflow
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AP_Int16 flow_rate; // optflow data rate (Hz)
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AP_Int8 flow_delay; // optflow data delay
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AP_Int8 terrain_enable; // enable using terrain for height
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AP_Int16 pin_mask; // for GPIO emulation
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AP_Float speedup; // simulation speedup
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AP_Int8 odom_enable; // enable visual odomotry data
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AP_Int8 telem_baudlimit_enable; // enable baudrate limiting on links
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AP_Float flow_noise; // optical flow measurement noise (rad/sec)
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AP_Int8 baro_count; // number of simulated baros to create
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AP_Int8 imu_count; // number of simulated IMUs to create
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AP_Int32 loop_delay; // extra delay to add to every loop
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AP_Float mag_scaling[MAX_CONNECTED_MAGS]; // scaling factor
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AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid
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AP_Float buoyancy; // submarine buoyancy in Newtons
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AP_Int16 loop_rate_hz;
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#ifdef SFML_JOYSTICK
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AP_Int8 sfml_joystick_id;
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AP_Int8 sfml_joystick_axis[8];
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#endif
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// baro parameters
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class BaroParm {
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public:
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static const struct AP_Param::GroupInfo var_info[];
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AP_Float noise; // in metres
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AP_Float drift; // in metres per second
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AP_Float glitch; // glitch in meters
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AP_Int8 freeze; // freeze baro to last recorded altitude
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AP_Int8 disable; // disable simulated barometers
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AP_Int16 delay; // barometer data delay in ms
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// wind coefficients
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AP_Float wcof_xp;
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AP_Float wcof_xn;
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AP_Float wcof_yp;
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AP_Float wcof_yn;
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};
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BaroParm baro[BARO_MAX_INSTANCES];
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// EFI type
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enum EFIType {
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EFI_TYPE_NONE = 0,
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EFI_TYPE_MS = 1,
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};
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AP_Int8 efi_type;
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// wind control
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enum WindType {
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WIND_TYPE_SQRT = 0,
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WIND_TYPE_NO_LIMIT = 1,
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WIND_TYPE_COEF = 2,
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};
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float wind_speed_active;
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float wind_direction_active;
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float wind_dir_z_active;
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AP_Float wind_speed;
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AP_Float wind_direction;
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AP_Float wind_turbulance;
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AP_Float wind_dir_z;
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AP_Int8 wind_type; // enum WindLimitType
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AP_Float wind_type_alt;
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AP_Float wind_type_coef;
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AP_Int16 mag_delay; // magnetometer data delay in ms
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AP_Int16 wind_delay; // windspeed data delay in ms
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// ADSB related run-time options
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AP_Int16 adsb_plane_count;
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AP_Float adsb_radius_m;
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AP_Float adsb_altitude_m;
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AP_Int8 adsb_tx;
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// Earth magnetic field anomaly
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AP_Vector3f mag_anomaly_ned; // NED anomaly vector at ground level (mGauss)
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AP_Float mag_anomaly_hgt; // height above ground where anomally strength has decayed to 1/8 of the ground level value (m)
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// Body frame sensor position offsets
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AP_Vector3f imu_pos_offset; // XYZ position of the IMU accelerometer relative to the body frame origin (m)
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AP_Vector3f rngfnd_pos_offset; // XYZ position of the range finder zero range datum relative to the body frame origin (m)
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AP_Vector3f optflow_pos_offset; // XYZ position of the optical flow sensor focal point relative to the body frame origin (m)
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AP_Vector3f vicon_pos_offset; // XYZ position of the vicon sensor relative to the body frame origin (m)
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// barometer temperature control
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AP_Float temp_start; // [deg C] Barometer start temperature
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AP_Float temp_board_offset; // [deg C] Barometer board temperature offset from atmospheric temperature
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AP_Float temp_tconst; // [deg C] Barometer warmup temperature time constant
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AP_Float temp_baro_factor;
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AP_Int8 thermal_scenario;
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// differential pressure sensor tube order
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AP_Int8 arspd_signflip;
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// weight on wheels pin
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AP_Int8 wow_pin;
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// vibration frequencies in Hz on each axis
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AP_Vector3f vibe_freq;
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// max frequency to use as baseline for adding motor noise for the gyros and accels
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AP_Float vibe_motor;
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// amplitude scaling of motor noise relative to gyro/accel noise
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AP_Float vibe_motor_scale;
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// minimum throttle for addition of ins noise
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AP_Float ins_noise_throttle_min;
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struct {
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AP_Float x;
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AP_Float y;
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AP_Float z;
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AP_Int32 t;
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uint32_t start_ms;
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} shove;
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struct {
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AP_Float x;
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AP_Float y;
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AP_Float z;
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AP_Int32 t;
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uint32_t start_ms;
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} twist;
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AP_Int8 gnd_behav;
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struct {
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AP_Int8 enable; // 0: disabled, 1: roll and pitch, 2: roll, pitch and heave
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AP_Float length; // m
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AP_Float amp; // m
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AP_Float direction; // deg (direction wave is coming from)
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AP_Float speed; // m/s
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} wave;
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struct {
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AP_Float direction; // deg (direction tide is coming from)
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AP_Float speed; // m/s
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} tide;
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// original simulated position
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struct {
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AP_Float lat;
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AP_Float lng;
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AP_Float alt; // metres
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AP_Float hdg; // 0 to 360
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} opos;
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AP_Int8 _safety_switch_state;
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AP_HAL::Util::safety_state safety_switch_state() const {
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return (AP_HAL::Util::safety_state)_safety_switch_state.get();
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}
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void force_safety_off() {
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_safety_switch_state = (uint8_t)AP_HAL::Util::SAFETY_ARMED;
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}
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bool force_safety_on() {
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_safety_switch_state = (uint8_t)AP_HAL::Util::SAFETY_DISARMED;
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return true;
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}
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uint16_t irlock_port;
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time_t start_time_UTC;
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void simstate_send(mavlink_channel_t chan) const;
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void sim_state_send(mavlink_channel_t chan) const;
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void Log_Write_SIMSTATE();
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// convert a set of roll rates from earth frame to body frame
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static void convert_body_frame(double rollDeg, double pitchDeg,
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double rollRate, double pitchRate, double yawRate,
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double *p, double *q, double *r);
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// convert a set of roll rates from body frame to earth frame
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static Vector3f convert_earth_frame(const Matrix3f &dcm, const Vector3f &gyro);
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int i2c_ioctl(uint8_t i2c_operation, void *data) {
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return i2c_sim.ioctl(i2c_operation, data);
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}
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int spi_ioctl(uint8_t bus, uint8_t cs_pin, uint8_t spi_operation, void *data) {
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return spi_sim.ioctl(bus, cs_pin, spi_operation, data);
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}
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Sprayer sprayer_sim;
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// simulated ship takeoffs
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ShipSim shipsim;
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Gripper_Servo gripper_sim;
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Gripper_EPM gripper_epm_sim;
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Parachute parachute_sim;
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Buzzer buzzer_sim;
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I2C i2c_sim;
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SPI spi_sim;
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ToneAlarm tonealarm_sim;
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SIM_Precland precland_sim;
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RichenPower richenpower_sim;
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IntelligentEnergy24 ie24_sim;
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FETtecOneWireESC fetteconewireesc_sim;
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// ESC telemetry
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AP_Int8 esc_telem;
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struct {
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// LED state, for serial LED emulation
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struct {
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uint8_t rgb[3];
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} rgb[16][32];
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uint8_t num_leds[16];
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uint32_t send_counter;
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} led;
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AP_Int8 led_layout;
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// vicon parameters
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AP_Vector3f vicon_glitch; // glitch in meters in vicon's local NED frame
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AP_Int8 vicon_fail; // trigger vicon failure
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AP_Int16 vicon_yaw; // vicon local yaw in degrees
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AP_Int16 vicon_yaw_error; // vicon yaw error in degrees (added to reported yaw sent to vehicle)
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AP_Int8 vicon_type_mask; // vicon message type mask (bit0:vision position estimate, bit1:vision speed estimate, bit2:vicon position estimate)
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AP_Vector3f vicon_vel_glitch; // velocity glitch in m/s in vicon's local frame
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// get the rangefinder reading for the desired instance, returns -1 for no data
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float get_rangefinder(uint8_t instance);
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// get the apparent wind speed and direction as set by external physics backend
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float get_apparent_wind_dir() const{return state.wind_vane_apparent.direction;}
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float get_apparent_wind_spd() const{return state.wind_vane_apparent.speed;}
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// IMU temperature calibration params
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AP_Float imu_temp_start;
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AP_Float imu_temp_end;
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AP_Float imu_temp_tconst;
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AP_Float imu_temp_fixed;
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AP_InertialSensor::TCal imu_tcal[INS_MAX_INSTANCES];
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// IMU control parameters
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AP_Float gyro_noise[INS_MAX_INSTANCES]; // in degrees/second
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AP_Vector3f gyro_scale[INS_MAX_INSTANCES]; // percentage
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AP_Float accel_noise[INS_MAX_INSTANCES]; // in m/s/s
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AP_Vector3f accel_bias[INS_MAX_INSTANCES]; // in m/s/s
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AP_Vector3f accel_scale[INS_MAX_INSTANCES]; // in m/s/s
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AP_Vector3f accel_trim;
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AP_Float accel_fail[INS_MAX_INSTANCES]; // accelerometer failure value
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// gyro and accel fail masks
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AP_Int8 gyro_fail_mask;
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AP_Int8 accel_fail_mask;
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// Sailboat sim only
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AP_Int8 sail_type;
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// Master instance to use servos from with slave instances
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AP_Int8 ride_along_master;
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};
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} // namespace SITL
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namespace AP {
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SITL::SIM *sitl();
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};
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#endif // CONFIG_HAL_BOARD
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