mirror of https://github.com/ArduPilot/ardupilot
357 lines
11 KiB
C++
357 lines
11 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simulator connector for FlightAxis
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*/
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#include "SIM_FlightAxis.h"
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#include <arpa/inet.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <AP_HAL/AP_HAL.h>
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#include <DataFlash/DataFlash.h>
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extern const AP_HAL::HAL& hal;
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namespace SITL {
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// the asprintf() calls are not worth checking for SITL
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#pragma GCC diagnostic ignored "-Wunused-result"
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FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
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Aircraft(home_str, frame_str)
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{
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use_time_sync = false;
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rate_hz = 250 / target_speedup;
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heli_demix = strstr(frame_str, "helidemix") != nullptr;
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rev4_servos = strstr(frame_str, "rev4") != nullptr;
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const char *colon = strchr(frame_str, ':');
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if (colon) {
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controller_ip = colon+1;
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}
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// FlightAxis sensor data is not good enough for EKF. Use fake EKF by default
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AP_Param::set_default_by_name("AHRS_EKF_TYPE", 10);
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AP_Param::set_default_by_name("INS_GYR_CAL", 0);
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}
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/*
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extremely primitive SOAP parser that assumes the format used by FlightAxis
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*/
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void FlightAxis::parse_reply(const char *reply)
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{
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const char *reply0 = reply;
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for (uint16_t i=0; i<num_keys; i++) {
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const char *p = strstr(reply, keytable[i].key);
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if (p == nullptr) {
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p = strstr(reply0, keytable[i].key);
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}
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if (p == nullptr) {
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printf("Failed to find key %s\n", keytable[i].key);
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controller_started = false;
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break;
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}
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p += strlen(keytable[i].key) + 1;
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double v;
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if (strncmp(p, "true", 4) == 0) {
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v = 1;
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} else if (strncmp(p, "false", 5) == 0) {
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v = 0;
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} else {
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v = atof(p);
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}
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keytable[i].ref = v;
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// this assumes key order and allows us to decode arrays
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p = strchr(p, '>');
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if (p != nullptr) {
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reply = p;
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}
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}
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}
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/*
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make a SOAP request, returning body of reply
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*/
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char *FlightAxis::soap_request(const char *action, const char *fmt, ...)
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{
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va_list ap;
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char *req1;
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va_start(ap, fmt);
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vasprintf(&req1, fmt, ap);
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va_end(ap);
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//printf("%s\n", req1);
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// open SOAP socket to FlightAxis
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SocketAPM sock(false);
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if (!sock.connect(controller_ip, controller_port)) {
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free(req1);
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return nullptr;
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}
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sock.set_blocking(false);
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char *req;
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asprintf(&req, R"(POST / HTTP/1.1
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soapaction: '%s'
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content-length: %u
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content-type: text/xml;charset='UTF-8'
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Connection: Keep-Alive
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%s)",
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action,
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(unsigned)strlen(req1), req1);
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sock.send(req, strlen(req));
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free(req1);
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free(req);
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char reply[10000];
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memset(reply, 0, sizeof(reply));
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ssize_t ret = sock.recv(reply, sizeof(reply)-1, 1000);
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if (ret <= 0) {
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printf("No data\n");
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return nullptr;
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}
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char *p = strstr(reply, "Content-Length: ");
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if (p == nullptr) {
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printf("No Content-Length\n");
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return nullptr;
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}
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// get the content length
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uint32_t content_length = strtoul(p+16, nullptr, 10);
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char *body = strstr(p, "\r\n\r\n");
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if (body == nullptr) {
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printf("No body\n");
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return nullptr;
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}
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body += 4;
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// get the rest of the body
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int32_t expected_length = content_length + (body - reply);
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if (expected_length >= (int32_t)sizeof(reply)) {
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printf("Reply too large %i\n", expected_length);
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return nullptr;
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}
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while (ret < expected_length) {
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ssize_t ret2 = sock.recv(&reply[ret], sizeof(reply)-(1+ret), 100);
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if (ret2 <= 0) {
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return nullptr;
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}
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// nul terminate
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reply[ret+ret2] = 0;
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ret += ret2;
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}
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return strdup(reply);
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}
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void FlightAxis::exchange_data(const struct sitl_input &input)
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{
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if (!controller_started ||
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is_zero(state.m_flightAxisControllerIsActive) ||
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!is_zero(state.m_resetButtonHasBeenPressed)) {
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printf("Starting controller at %s\n", controller_ip);
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// call a restore first. This allows us to connect after the aircraft is changed in RealFlight
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char *reply = soap_request("RestoreOriginalControllerDevice", R"(<?xml version='1.0' encoding='UTF-8'?>
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<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
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<soap:Body>
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<RestoreOriginalControllerDevice><a>1</a><b>2</b></RestoreOriginalControllerDevice>
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</soap:Body>
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</soap:Envelope>)");
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free(reply);
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reply = soap_request("InjectUAVControllerInterface", R"(<?xml version='1.0' encoding='UTF-8'?>
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<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
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<soap:Body>
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<InjectUAVControllerInterface><a>1</a><b>2</b></InjectUAVControllerInterface>
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</soap:Body>
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</soap:Envelope>)");
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free(reply);
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activation_frame_counter = frame_counter;
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controller_started = true;
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}
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float scaled_servos[8];
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for (uint8_t i=0; i<8; i++) {
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scaled_servos[i] = (input.servos[i] - 1000) / 1000.0f;
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}
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if (rev4_servos) {
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// swap first 4 and last 4 servos, for quadplane testing
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float saved[4];
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memcpy(saved, &scaled_servos[0], sizeof(saved));
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memcpy(&scaled_servos[0], &scaled_servos[4], sizeof(saved));
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memcpy(&scaled_servos[4], saved, sizeof(saved));
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}
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if (heli_demix) {
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// FlightAxis expects "roll/pitch/collective/yaw" input
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float swash1 = scaled_servos[0];
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float swash2 = scaled_servos[1];
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float swash3 = scaled_servos[2];
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float roll_rate = swash1 - swash2;
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float pitch_rate = -((swash1+swash2) / 2.0f - swash3);
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scaled_servos[0] = constrain_float(roll_rate + 0.5, 0, 1);
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scaled_servos[1] = constrain_float(pitch_rate + 0.5, 0, 1);
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}
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char *reply = soap_request("ExchangeData", R"(<?xml version='1.0' encoding='UTF-8'?><soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
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<soap:Body>
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<ExchangeData>
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<pControlInputs>
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<m-selectedChannels>255</m-selectedChannels>
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<m-channelValues-0to1>
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<item>%.4f</item>
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<item>%.4f</item>
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<item>%.4f</item>
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<item>%.4f</item>
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<item>%.4f</item>
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<item>%.4f</item>
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<item>%.4f</item>
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<item>%.4f</item>
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</m-channelValues-0to1>
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</pControlInputs>
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</ExchangeData>
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</soap:Body>
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</soap:Envelope>)",
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scaled_servos[0],
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scaled_servos[1],
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scaled_servos[2],
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scaled_servos[3],
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scaled_servos[4],
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scaled_servos[5],
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scaled_servos[6],
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scaled_servos[7]);
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if (reply) {
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parse_reply(reply);
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free(reply);
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}
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}
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/*
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update the FlightAxis simulation by one time step
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*/
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void FlightAxis::update(const struct sitl_input &input)
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{
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exchange_data(input);
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double dt_seconds = state.m_currentPhysicsTime_SEC - last_time_s;
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if (dt_seconds < 0) {
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// cope with restarting RealFlight while connected
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initial_time_s = time_now_us * 1.0e-6f;
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last_time_s = state.m_currentPhysicsTime_SEC;
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position_offset.zero();
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return;
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}
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if (dt_seconds < 0.0001f) {
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// we probably got a repeated frame
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time_now_us += 1;
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return;
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}
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if (initial_time_s <= 0) {
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dt_seconds = 0.001f;
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initial_time_s = state.m_currentPhysicsTime_SEC - dt_seconds;
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}
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/*
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the queternion convention in realflight seems to have Z negative
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*/
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Quaternion quat(state.m_orientationQuaternion_W,
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state.m_orientationQuaternion_Y,
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state.m_orientationQuaternion_X,
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-state.m_orientationQuaternion_Z);
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quat.rotation_matrix(dcm);
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gyro = Vector3f(radians(constrain_float(state.m_rollRate_DEGpSEC, -2000, 2000)),
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radians(constrain_float(state.m_pitchRate_DEGpSEC, -2000, 2000)),
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-radians(constrain_float(state.m_yawRate_DEGpSEC, -2000, 2000))) * target_speedup;
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velocity_ef = Vector3f(state.m_velocityWorldU_MPS,
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state.m_velocityWorldV_MPS,
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state.m_velocityWorldW_MPS);
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position = Vector3f(state.m_aircraftPositionY_MTR,
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state.m_aircraftPositionX_MTR,
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-state.m_altitudeASL_MTR - home.alt*0.01);
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accel_body(state.m_accelerationBodyAX_MPS2,
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state.m_accelerationBodyAY_MPS2,
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state.m_accelerationBodyAZ_MPS2);
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// accel on the ground is nasty in realflight, and prevents helicopter disarm
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if (state.m_isTouchingGround) {
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Vector3f accel_ef = (velocity_ef - last_velocity_ef) / dt_seconds;
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accel_ef.z -= GRAVITY_MSS;
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accel_body = dcm.transposed() * accel_ef;
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}
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// limit to 16G to match pixhawk
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float a_limit = GRAVITY_MSS*16;
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accel_body.x = constrain_float(accel_body.x, -a_limit, a_limit);
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accel_body.y = constrain_float(accel_body.y, -a_limit, a_limit);
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accel_body.z = constrain_float(accel_body.z, -a_limit, a_limit);
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// offset based on first position to account for offset in RF world
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if (position_offset.is_zero() || state.m_resetButtonHasBeenPressed) {
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position_offset = position;
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}
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position -= position_offset;
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airspeed = state.m_airspeed_MPS;
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airspeed_pitot = state.m_airspeed_MPS;
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battery_voltage = state.m_batteryVoltage_VOLTS;
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battery_current = state.m_batteryCurrentDraw_AMPS;
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rpm1 = state.m_heliMainRotorRPM;
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rpm2 = state.m_propRPM;
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/*
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the interlink interface supports 8 input channels
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*/
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rcin_chan_count = 8;
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for (uint8_t i=0; i<rcin_chan_count; i++) {
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rcin[i] = state.rcin[i];
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}
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update_position();
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time_now_us = (state.m_currentPhysicsTime_SEC - initial_time_s)*1.0e6;
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if (frame_counter++ % 1000 == 0) {
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if (last_frame_count_s != 0) {
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printf("%.2f FPS\n",
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1000 / (state.m_currentPhysicsTime_SEC - last_frame_count_s));
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} else {
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printf("Initial position %f %f %f\n", position.x, position.y, position.z);
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}
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last_frame_count_s = state.m_currentPhysicsTime_SEC;
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}
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last_time_s = state.m_currentPhysicsTime_SEC;
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last_velocity_ef = velocity_ef;
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// update magnetic field
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update_mag_field_bf();
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}
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} // namespace SITL
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