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ardupilot/libraries/SITL/SITL.cpp

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/*
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/>.
*/
/*
SITL.cpp - software in the loop state
*/
#define ALLOW_DOUBLE_MATH_FUNCTIONS
#include "SITL.h"
#if AP_SIM_ENABLED
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#ifdef SFML_JOYSTICK
#ifdef HAVE_SFML_GRAPHICS_HPP
#include <SFML/Window/Joystick.hpp>
#elif HAVE_SFML_GRAPHIC_H
#include <SFML/Window/Joystick.h>
#endif
#endif // SFML_JOYSTICK
extern const AP_HAL::HAL& hal;
namespace SITL {
SIM *SIM::_singleton = nullptr;
// table of user settable parameters
const AP_Param::GroupInfo SIM::var_info[] = {
AP_GROUPINFO("DRIFT_SPEED", 5, SIM, drift_speed, 0.05f),
AP_GROUPINFO("DRIFT_TIME", 6, SIM, drift_time, 5),
AP_GROUPINFO("ENGINE_MUL", 8, SIM, engine_mul, 1),
AP_GROUPINFO("WIND_SPD", 9, SIM, wind_speed, 0),
AP_GROUPINFO("WIND_DIR", 10, SIM, wind_direction, 180),
AP_GROUPINFO("WIND_TURB", 11, SIM, wind_turbulance, 0),
AP_GROUPINFO("SERVO_SPEED", 16, SIM, servo_speed, 0.14),
AP_GROUPINFO("SONAR_ROT", 17, SIM, sonar_rot, Rotation::ROTATION_PITCH_270),
AP_GROUPINFO("BATT_VOLTAGE", 19, SIM, batt_voltage, 12.6f),
AP_GROUPINFO("BATT_CAP_AH", 20, SIM, batt_capacity_ah, 0),
AP_GROUPINFO("SONAR_GLITCH", 23, SIM, sonar_glitch, 0),
AP_GROUPINFO("SONAR_RND", 24, SIM, sonar_noise, 0),
AP_GROUPINFO("RC_FAIL", 25, SIM, rc_fail, 0),
AP_GROUPINFO("FLOAT_EXCEPT", 28, SIM, float_exception, 1),
AP_GROUPINFO("SONAR_SCALE", 32, SIM, sonar_scale, 12.1212f),
AP_GROUPINFO("FLOW_ENABLE", 33, SIM, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SIM, terrain_enable, 1),
AP_GROUPINFO("FLOW_RATE", 35, SIM, flow_rate, 10),
AP_GROUPINFO("FLOW_DELAY", 36, SIM, flow_delay, 0),
AP_GROUPINFO("ADSB_COUNT", 45, SIM, adsb_plane_count, -1),
AP_GROUPINFO("ADSB_RADIUS", 46, SIM, adsb_radius_m, 10000),
AP_GROUPINFO("ADSB_ALT", 47, SIM, adsb_altitude_m, 1000),
AP_GROUPINFO("PIN_MASK", 50, SIM, pin_mask, 0),
AP_GROUPINFO("ADSB_TX", 51, SIM, adsb_tx, 0),
AP_GROUPINFO("SPEEDUP", 52, SIM, speedup, -1),
AP_GROUPINFO("IMU_POS", 53, SIM, imu_pos_offset, 0),
AP_SUBGROUPEXTENSION("", 54, SIM, var_ins),
AP_GROUPINFO("SONAR_POS", 55, SIM, rngfnd_pos_offset, 0),
AP_GROUPINFO("FLOW_POS", 56, SIM, optflow_pos_offset, 0),
AP_GROUPINFO("ENGINE_FAIL", 58, SIM, engine_fail, 0),
#if AP_SIM_SHIP_ENABLED
AP_SUBGROUPINFO(shipsim, "SHIP_", 59, SIM, ShipSim),
#endif
AP_SUBGROUPEXTENSION("", 60, SIM, var_mag),
#if HAL_SIM_GPS_ENABLED
AP_SUBGROUPEXTENSION("", 61, SIM, var_gps),
#endif
AP_SUBGROUPEXTENSION("", 62, SIM, var_info3),
AP_SUBGROUPEXTENSION("", 63, SIM, var_info2),
AP_GROUPEND
};
// second table of user settable parameters for SITL.
const AP_Param::GroupInfo SIM::var_info2[] = {
AP_GROUPINFO("TEMP_START", 1, SIM, temp_start, 25),
AP_GROUPINFO("TEMP_BRD_OFF", 2, SIM, temp_board_offset, 20),
AP_GROUPINFO("TEMP_TCONST", 3, SIM, temp_tconst, 30),
AP_GROUPINFO("TEMP_BFACTOR", 4, SIM, temp_baro_factor, 0),
AP_GROUPINFO("WIND_DIR_Z", 10, SIM, wind_dir_z, 0),
AP_GROUPINFO("WIND_T" ,15, SIM, wind_type, SIM::WIND_TYPE_SQRT),
AP_GROUPINFO("WIND_T_ALT" ,16, SIM, wind_type_alt, 60),
AP_GROUPINFO("WIND_T_COEF", 17, SIM, wind_type_coef, 0.01f),
AP_GROUPINFO("RC_CHANCOUNT",21, SIM, rc_chancount, 16),
// @Group: SPR_
// @Path: ./SIM_Sprayer.cpp
AP_SUBGROUPINFO(sprayer_sim, "SPR_", 22, SIM, Sprayer),
// @Group: GRPS_
// @Path: ./SIM_Gripper_Servo.cpp
AP_SUBGROUPINFO(gripper_sim, "GRPS_", 23, SIM, Gripper_Servo),
// @Group: GRPE_
// @Path: ./SIM_Gripper_EPM.cpp
AP_SUBGROUPINFO(gripper_epm_sim, "GRPE_", 24, SIM, Gripper_EPM),
// weight on wheels pin
AP_GROUPINFO("WOW_PIN", 25, SIM, wow_pin, -1),
// vibration frequencies on each axis
AP_GROUPINFO("VIB_FREQ", 26, SIM, vibe_freq, 0),
// @Path: ./SIM_Parachute.cpp
AP_SUBGROUPINFO(parachute_sim, "PARA_", 27, SIM, Parachute),
// enable bandwidth limitting on telemetry ports:
AP_GROUPINFO("BAUDLIMIT_EN", 28, SIM, telem_baudlimit_enable, 0),
// @Group: PLD_
// @Path: ./SIM_Precland.cpp
AP_SUBGROUPINFO(precland_sim, "PLD_", 29, SIM, SIM_Precland),
// apply a force to the vehicle over a period of time:
AP_GROUPINFO("SHOVE_X", 30, SIM, shove.x, 0),
AP_GROUPINFO("SHOVE_Y", 31, SIM, shove.y, 0),
AP_GROUPINFO("SHOVE_Z", 32, SIM, shove.z, 0),
AP_GROUPINFO("SHOVE_TIME", 33, SIM, shove.t, 0),
// optical flow sensor measurement noise in rad/sec
AP_GROUPINFO("FLOW_RND", 34, SIM, flow_noise, 0.05f),
AP_GROUPINFO("TWIST_X", 37, SIM, twist.x, 0),
AP_GROUPINFO("TWIST_Y", 38, SIM, twist.y, 0),
AP_GROUPINFO("TWIST_Z", 39, SIM, twist.z, 0),
AP_GROUPINFO("TWIST_TIME", 40, SIM, twist.t, 0),
AP_GROUPINFO("GND_BEHAV", 41, SIM, gnd_behav, -1),
// sailboat wave and tide simulation parameters
AP_GROUPINFO("WAVE_ENABLE", 44, SIM, wave.enable, 0.0f),
AP_GROUPINFO("WAVE_LENGTH", 45, SIM, wave.length, 10.0f),
AP_GROUPINFO("WAVE_AMP", 46, SIM, wave.amp, 0.5f),
AP_GROUPINFO("WAVE_DIR", 47, SIM, wave.direction, 0.0f),
AP_GROUPINFO("WAVE_SPEED", 48, SIM, wave.speed, 0.5f),
AP_GROUPINFO("TIDE_DIR", 49, SIM, tide.direction, 0.0f),
AP_GROUPINFO("TIDE_SPEED", 50, SIM, tide.speed, 0.0f),
// the following coordinates are for CMAC, in Canberra
AP_GROUPINFO("OPOS_LAT", 51, SIM, opos.lat, -35.363261f),
AP_GROUPINFO("OPOS_LNG", 52, SIM, opos.lng, 149.165230f),
AP_GROUPINFO("OPOS_ALT", 53, SIM, opos.alt, 584.0f),
AP_GROUPINFO("OPOS_HDG", 54, SIM, opos.hdg, 353.0f),
// extra delay per main loop
AP_GROUPINFO("LOOP_DELAY", 55, SIM, loop_delay, 0),
// @Path: ./SIM_Buzzer.cpp
AP_SUBGROUPINFO(buzzer_sim, "BZ_", 56, SIM, Buzzer),
// @Path: ./SIM_ToneAlarm.cpp
AP_SUBGROUPINFO(tonealarm_sim, "TA_", 57, SIM, ToneAlarm),
AP_GROUPINFO("EFI_TYPE", 58, SIM, efi_type, SIM::EFI_TYPE_NONE),
AP_GROUPINFO("SAFETY_STATE", 59, SIM, _safety_switch_state, 0),
// motor harmonics
AP_GROUPINFO("VIB_MOT_HMNC", 60, SIM, vibe_motor_harmonics, 1),
// max motor vibration frequency
AP_GROUPINFO("VIB_MOT_MAX", 61, SIM, vibe_motor, 0.0f),
// minimum throttle for simulated ins noise
AP_GROUPINFO("INS_THR_MIN", 62, SIM, ins_noise_throttle_min, 0.1f),
// amplitude scaling of motor noise relative to gyro/accel noise
AP_GROUPINFO("VIB_MOT_MULT", 63, SIM, vibe_motor_scale, 1.0f),
AP_GROUPEND
};
// third table of user settable parameters for SITL.
const AP_Param::GroupInfo SIM::var_info3[] = {
AP_GROUPINFO("ODOM_ENABLE", 1, SIM, odom_enable, 0),
AP_GROUPINFO("LED_LAYOUT", 11, SIM, led_layout, 0),
// Scenario for thermalling simulation, for soaring
AP_GROUPINFO("THML_SCENARI", 12, SIM, thermal_scenario, 0),
// vicon sensor position (position offsets in body frame)
AP_GROUPINFO("VICON_POS", 14, SIM, vicon_pos_offset, 0),
// Buyoancy for submarines
AP_GROUPINFO_FRAME("BUOYANCY", 15, SIM, buoyancy, 1, AP_PARAM_FRAME_SUB),
// vicon glitch in NED frame
AP_GROUPINFO("VICON_GLIT", 16, SIM, vicon_glitch, 0),
// vicon failure
AP_GROUPINFO("VICON_FAIL", 17, SIM, vicon_fail, 0),
// vicon yaw (in earth frame)
AP_GROUPINFO("VICON_YAW", 18, SIM, vicon_yaw, 0),
// vicon yaw error in degrees (added to reported yaw sent to vehicle)
AP_GROUPINFO("VICON_YAWERR", 19, SIM, vicon_yaw_error, 0),
// vicon message type mask
AP_GROUPINFO("VICON_TMASK", 20, SIM, vicon_type_mask, 3),
// vicon velocity glitch in NED frame
AP_GROUPINFO("VICON_VGLI", 21, SIM, vicon_vel_glitch, 0),
AP_GROUPINFO("RATE_HZ", 22, SIM, loop_rate_hz, 1200),
// count of simulated IMUs
AP_GROUPINFO("IMU_COUNT", 23, SIM, imu_count, 2),
// @Path: ./SIM_FETtecOneWireESC.cpp
AP_SUBGROUPINFO(fetteconewireesc_sim, "FTOWESC_", 30, SIM, FETtecOneWireESC),
// @Path: ./SIM_RichenPower.cpp
AP_SUBGROUPINFO(richenpower_sim, "RICH_", 31, SIM, RichenPower),
// @Path: ./SIM_IntelligentEnergy24.cpp
AP_SUBGROUPINFO(ie24_sim, "IE24_", 32, SIM, IntelligentEnergy24),
// user settable barometer parameters
AP_GROUPINFO("BARO_COUNT", 33, SIM, baro_count, 2),
AP_SUBGROUPINFO(baro[0], "BARO_", 34, SIM, SIM::BaroParm),
#if BARO_MAX_INSTANCES > 1
AP_SUBGROUPINFO(baro[1], "BAR2_", 35, SIM, SIM::BaroParm),
#endif
#if BARO_MAX_INSTANCES > 2
AP_SUBGROUPINFO(baro[2], "BAR3_", 36, SIM, SIM::BaroParm),
#endif
// user settable parameters for the 1st barometer
// @Param: BARO_RND
// @DisplayName: Baro Noise
// @Description: Amount of (evenly-distributed) noise injected into the 1st baro
// @Units: m
// @User: Advanced
// @Param: BARO_GLITCH
// @DisplayName: Baro Glitch
// @Description: Glitch for 1st baro
// @Units: m
// @User: Advanced
// user settable parameters for the 2nd barometer
// @Param: BAR2_RND
// @DisplayName: Baro2 Noise
// @Description: Amount of (evenly-distributed) noise injected into the 2nd baro
// @Units: m
// @User: Advanced
// @Param: BAR2_GLITCH
// @DisplayName: Baro2 Glitch
// @Description: Glitch for 2nd baro
// @Units: m
// @User: Advanced
// user settable parameters for the 3rd barometer
// @Param: BAR3_RND
// @DisplayName: Baro3 Noise
// @Description: Amount of (evenly-distributed) noise injected into the 3rd baro
// @Units: m
// @User: Advanced
// @Param: BAR3_GLITCH
// @DisplayName: Baro3 Glitch
// @Description: Glitch for 2nd baro
// @Units: m
// @User: Advanced
AP_GROUPINFO("ESC_TELEM", 40, SIM, esc_telem, 1),
AP_GROUPINFO("ESC_ARM_RPM", 41, SIM, esc_rpm_armed, 0.0f),
AP_SUBGROUPINFO(airspeed[0], "ARSPD_", 50, SIM, SIM::AirspeedParm),
#if AIRSPEED_MAX_SENSORS > 1
AP_SUBGROUPINFO(airspeed[1], "ARSPD2_", 51, SIM, SIM::AirspeedParm),
#endif
#ifdef SFML_JOYSTICK
AP_SUBGROUPEXTENSION("", 63, SIM, var_sfml_joystick),
#endif // SFML_JOYSTICK
AP_GROUPEND
};
// user settable parameters for the barometers
const AP_Param::GroupInfo SIM::BaroParm::var_info[] = {
AP_GROUPINFO("RND", 1, SIM::BaroParm, noise, 0.2f),
AP_GROUPINFO("DRIFT", 2, SIM::BaroParm, drift, 0),
AP_GROUPINFO("DISABLE", 3, SIM::BaroParm, disable, 0),
AP_GROUPINFO("GLITCH", 4, SIM::BaroParm, glitch, 0),
AP_GROUPINFO("FREEZE", 5, SIM::BaroParm, freeze, 0),
AP_GROUPINFO("DELAY", 6, SIM::BaroParm, delay, 0),
// wind coeffients
AP_GROUPINFO("WCF_FWD", 7, SIM::BaroParm, wcof_xp, 0.0),
AP_GROUPINFO("WCF_BAK", 8, SIM::BaroParm, wcof_xn, 0.0),
AP_GROUPINFO("WCF_RGT", 9, SIM::BaroParm, wcof_yp, 0.0),
AP_GROUPINFO("WCF_LFT", 10, SIM::BaroParm, wcof_yn, 0.0),
AP_GROUPEND
};
// user settable parameters for airspeed sensors
const AP_Param::GroupInfo SIM::AirspeedParm::var_info[] = {
// user settable parameters for the 1st airspeed sensor
AP_GROUPINFO("RND", 1, SIM::AirspeedParm, noise, 2.0),
AP_GROUPINFO("OFS", 2, SIM::AirspeedParm, offset, 2013),
AP_GROUPINFO("FAIL", 3, SIM::AirspeedParm, fail, 0),
AP_GROUPINFO("FAILP", 4, SIM::AirspeedParm, fail_pressure, 0),
AP_GROUPINFO("PITOT", 5, SIM::AirspeedParm, fail_pitot_pressure, 0),
AP_GROUPINFO("SIGN", 6, SIM::AirspeedParm, signflip, 0),
AP_GROUPINFO("RATIO", 7, SIM::AirspeedParm, ratio, 1.99),
AP_GROUPEND
};
#if HAL_SIM_GPS_ENABLED
// GPS SITL parameters
const AP_Param::GroupInfo SIM::var_gps[] = {
AP_GROUPINFO("GPS_DISABLE", 1, SIM, gps_disable[0], 0),
AP_GROUPINFO("GPS_LAG_MS", 2, SIM, gps_delay_ms[0], 100),
AP_GROUPINFO("GPS_TYPE", 3, SIM, gps_type[0], GPS::Type::UBLOX),
AP_GROUPINFO("GPS_BYTELOSS", 4, SIM, gps_byteloss[0], 0),
AP_GROUPINFO("GPS_NUMSATS", 5, SIM, gps_numsats[0], 10),
AP_GROUPINFO("GPS_GLITCH", 6, SIM, gps_glitch[0], 0),
AP_GROUPINFO("GPS_HZ", 7, SIM, gps_hertz[0], 5),
AP_GROUPINFO("GPS_DRIFTALT", 8, SIM, gps_drift_alt[0], 0),
AP_GROUPINFO("GPS_POS", 9, SIM, gps_pos_offset[0], 0),
AP_GROUPINFO("GPS_NOISE", 10, SIM, gps_noise[0], 0),
AP_GROUPINFO("GPS_LOCKTIME", 11, SIM, gps_lock_time[0], 0),
AP_GROUPINFO("GPS_ALT_OFS", 12, SIM, gps_alt_offset[0], 0),
AP_GROUPINFO("GPS_HDG", 13, SIM, gps_hdg_enabled[0], SIM::GPS_HEADING_NONE),
AP_GROUPINFO("GPS_ACC", 14, SIM, gps_accuracy[0], 0.3),
AP_GROUPINFO("GPS_VERR", 15, SIM, gps_vel_err[0], 0),
AP_GROUPINFO("GPS2_DISABLE", 30, SIM, gps_disable[1], 1),
AP_GROUPINFO("GPS2_LAG_MS", 31, SIM, gps_delay_ms[1], 100),
AP_GROUPINFO("GPS2_TYPE", 32, SIM, gps_type[1], GPS::Type::UBLOX),
AP_GROUPINFO("GPS2_BYTELOS", 33, SIM, gps_byteloss[1], 0),
AP_GROUPINFO("GPS2_NUMSATS", 34, SIM, gps_numsats[1], 10),
AP_GROUPINFO("GPS2_GLTCH", 35, SIM, gps_glitch[1], 0),
AP_GROUPINFO("GPS2_HZ", 36, SIM, gps_hertz[1], 5),
AP_GROUPINFO("GPS2_DRFTALT", 37, SIM, gps_drift_alt[1], 0),
AP_GROUPINFO("GPS2_POS", 38, SIM, gps_pos_offset[1], 0),
AP_GROUPINFO("GPS2_NOISE", 39, SIM, gps_noise[1], 0),
AP_GROUPINFO("GPS2_LCKTIME", 40, SIM, gps_lock_time[1], 0),
AP_GROUPINFO("GPS2_ALT_OFS", 41, SIM, gps_alt_offset[1], 0),
AP_GROUPINFO("GPS2_HDG", 42, SIM, gps_hdg_enabled[1], SIM::GPS_HEADING_NONE),
AP_GROUPINFO("GPS2_ACC", 43, SIM, gps_accuracy[1], 0.3),
AP_GROUPINFO("GPS2_VERR", 44, SIM, gps_vel_err[1], 0),
AP_GROUPINFO("INIT_LAT_OFS", 45, SIM, gps_init_lat_ofs, 0),
AP_GROUPINFO("INIT_LON_OFS", 46, SIM, gps_init_lon_ofs, 0),
AP_GROUPINFO("INIT_ALT_OFS", 47, SIM, gps_init_alt_ofs, 0),
AP_GROUPEND
};
#endif // HAL_SIM_GPS_ENABLED
// Mag SITL parameters
const AP_Param::GroupInfo SIM::var_mag[] = {
AP_GROUPINFO("MAG_RND", 1, SIM, mag_noise, 0),
AP_GROUPINFO("MAG_MOT", 2, SIM, mag_mot, 0),
AP_GROUPINFO("MAG_DELAY", 3, SIM, mag_delay, 0),
AP_GROUPINFO("MAG_OFS", 4, SIM, mag_ofs[0], 0),
AP_GROUPINFO("MAG_ALY", 5, SIM, mag_anomaly_ned, 0),
AP_GROUPINFO("MAG_ALY_HGT", 6, SIM, mag_anomaly_hgt, 1.0f),
AP_GROUPINFO("MAG_DIA", 7, SIM, mag_diag[0], 0),
AP_GROUPINFO("MAG_ODI", 8, SIM, mag_offdiag[0], 0),
AP_GROUPINFO("MAG_ORIENT", 9, SIM, mag_orient[0], 0),
AP_GROUPINFO("MAG1_SCALING", 10, SIM, mag_scaling[0], 1),
AP_GROUPINFO("MAG1_DEVID", 11, SIM, mag_devid[0], 97539),
AP_GROUPINFO("MAG2_DEVID", 12, SIM, mag_devid[1], 131874),
#if MAX_CONNECTED_MAGS > 2
AP_GROUPINFO("MAG3_DEVID", 13, SIM, mag_devid[2], 263178),
#endif
#if MAX_CONNECTED_MAGS > 3
AP_GROUPINFO("MAG4_DEVID", 14, SIM, mag_devid[3], 97283),
#endif
#if MAX_CONNECTED_MAGS > 4
AP_GROUPINFO("MAG5_DEVID", 15, SIM, mag_devid[4], 97795),
#endif
#if MAX_CONNECTED_MAGS > 5
AP_GROUPINFO("MAG6_DEVID", 16, SIM, mag_devid[5], 98051),
#endif
#if MAX_CONNECTED_MAGS > 6
AP_GROUPINFO("MAG7_DEVID", 17, SIM, mag_devid[6], 0),
#endif
#if MAX_CONNECTED_MAGS > 7
AP_GROUPINFO("MAG8_DEVID", 18, SIM, mag_devid[7], 0),
#endif
AP_GROUPINFO("MAG1_FAIL", 26, SIM, mag_fail[0], 0),
#if HAL_COMPASS_MAX_SENSORS > 1
AP_GROUPINFO("MAG2_OFS", 19, SIM, mag_ofs[1], 0),
AP_GROUPINFO("MAG2_DIA", 20, SIM, mag_diag[1], 0),
AP_GROUPINFO("MAG2_ODI", 21, SIM, mag_offdiag[1], 0),
AP_GROUPINFO("MAG2_ORIENT", 22, SIM, mag_orient[1], 0),
AP_GROUPINFO("MAG2_FAIL", 27, SIM, mag_fail[1], 0),
AP_GROUPINFO("MAG2_SCALING", 28, SIM, mag_scaling[1], 1),
#endif
#if HAL_COMPASS_MAX_SENSORS > 2
AP_GROUPINFO("MAG3_OFS", 23, SIM, mag_ofs[2], 0),
AP_GROUPINFO("MAG3_DIA", 24, SIM, mag_diag[2], 0),
AP_GROUPINFO("MAG3_ODI", 25, SIM, mag_offdiag[2], 0),
AP_GROUPINFO("MAG3_FAIL", 29, SIM, mag_fail[2], 0),
AP_GROUPINFO("MAG3_SCALING", 30, SIM, mag_scaling[2], 1),
AP_GROUPINFO("MAG3_ORIENT", 36, SIM, mag_orient[2], 0),
#endif
AP_GROUPEND
};
#ifdef SFML_JOYSTICK
const AP_Param::GroupInfo SIM::var_sfml_joystick[] = {
AP_GROUPINFO("SF_JS_STICK", 1, SIM, sfml_joystick_id, 0),
AP_GROUPINFO("SF_JS_AXIS1", 2, SIM, sfml_joystick_axis[0], sf::Joystick::Axis::X),
AP_GROUPINFO("SF_JS_AXIS2", 3, SIM, sfml_joystick_axis[1], sf::Joystick::Axis::Y),
AP_GROUPINFO("SF_JS_AXIS3", 4, SIM, sfml_joystick_axis[2], sf::Joystick::Axis::Z),
AP_GROUPINFO("SF_JS_AXIS4", 5, SIM, sfml_joystick_axis[3], sf::Joystick::Axis::U),
AP_GROUPINFO("SF_JS_AXIS5", 6, SIM, sfml_joystick_axis[4], sf::Joystick::Axis::V),
AP_GROUPINFO("SF_JS_AXIS6", 7, SIM, sfml_joystick_axis[5], sf::Joystick::Axis::R),
AP_GROUPINFO("SF_JS_AXIS7", 8, SIM, sfml_joystick_axis[6], sf::Joystick::Axis::PovX),
AP_GROUPINFO("SF_JS_AXIS8", 9, SIM, sfml_joystick_axis[7], sf::Joystick::Axis::PovY),
AP_GROUPEND
};
#endif //SFML_JOYSTICK
// INS SITL parameters
const AP_Param::GroupInfo SIM::var_ins[] = {
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_GROUPINFO("IMUT_START", 1, SIM, imu_temp_start, 25),
AP_GROUPINFO("IMUT_END", 2, SIM, imu_temp_end, 45),
AP_GROUPINFO("IMUT_TCONST", 3, SIM, imu_temp_tconst, 300),
AP_GROUPINFO("IMUT_FIXED", 4, SIM, imu_temp_fixed, 0),
#endif
AP_GROUPINFO("ACC1_BIAS", 5, SIM, accel_bias[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_BIAS", 6, SIM, accel_bias[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_BIAS", 7, SIM, accel_bias[2], 0),
#endif
AP_GROUPINFO("GYR1_RND", 8, SIM, gyro_noise[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("GYR2_RND", 9, SIM, gyro_noise[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("GYR3_RND", 10, SIM, gyro_noise[2], 0),
#endif
AP_GROUPINFO("ACC1_RND", 11, SIM, accel_noise[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_RND", 12, SIM, accel_noise[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_RND", 13, SIM, accel_noise[2], 0),
#endif
AP_GROUPINFO("GYR1_SCALE", 14, SIM, gyro_scale[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("GYR2_SCALE", 15, SIM, gyro_scale[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("GYR3_SCALE", 16, SIM, gyro_scale[2], 0),
#endif
AP_GROUPINFO("ACCEL1_FAIL", 17, SIM, accel_fail[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACCEL2_FAIL", 18, SIM, accel_fail[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACCEL3_FAIL", 19, SIM, accel_fail[2], 0),
#endif
AP_GROUPINFO("GYR_FAIL_MSK", 20, SIM, gyro_fail_mask, 0),
AP_GROUPINFO("ACC_FAIL_MSK", 21, SIM, accel_fail_mask, 0),
AP_GROUPINFO("ACC1_SCAL", 22, SIM, accel_scale[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_SCAL", 23, SIM, accel_scale[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_SCAL", 24, SIM, accel_scale[2], 0),
#endif
AP_GROUPINFO("ACC_TRIM", 25, SIM, accel_trim, 0),
// @Param: SAIL_TYPE
// @DisplayName: Sailboat simulation sail type
// @Description: 0: mainsail with sheet, 1: directly actuated wing
AP_GROUPINFO("SAIL_TYPE", 26, SIM, sail_type, 0),
// @Param: JSON_MASTER
// @DisplayName: JSON master instance
// @Description: the instance number to take servos from
AP_GROUPINFO("JSON_MASTER", 27, SIM, ride_along_master, 0),
// @Param: OH_MASK
// @DisplayName: SIM-on_hardware Output Enable Mask
// @Description: channels which are passed through to actual hardware when running on actual hardware
AP_GROUPINFO("OH_MASK", 28, SIM, on_hardware_output_enable_mask, 0),
// the IMUT parameters must be last due to the enable parameters
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor::TCal),
#if INS_MAX_INSTANCES > 1
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 62, SIM, AP_InertialSensor::TCal),
#endif
#if INS_MAX_INSTANCES > 2
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 63, SIM, AP_InertialSensor::TCal),
#endif
#endif // HAL_INS_TEMPERATURE_CAL_ENABLE
AP_GROUPEND
};
const Location post_origin {
518752066,
146487830,
0,
Location::AltFrame::ABSOLUTE
};
/* report SITL state via MAVLink SIMSTATE*/
void SIM::simstate_send(mavlink_channel_t chan) const
{
float yaw;
// convert to same conventions as DCM
yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
mavlink_msg_simstate_send(chan,
ToRad(state.rollDeg),
ToRad(state.pitchDeg),
ToRad(yaw),
state.xAccel,
state.yAccel,
state.zAccel,
radians(state.rollRate),
radians(state.pitchRate),
radians(state.yawRate),
state.latitude*1.0e7,
state.longitude*1.0e7);
}
/* report SITL state via MAVLink SIM_STATE */
void SIM::sim_state_send(mavlink_channel_t chan) const
{
// convert to same conventions as DCM
float yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
mavlink_msg_sim_state_send(chan,
state.quaternion.q1,
state.quaternion.q2,
state.quaternion.q3,
state.quaternion.q4,
ToRad(state.rollDeg),
ToRad(state.pitchDeg),
ToRad(yaw),
state.xAccel,
state.yAccel,
state.zAccel,
radians(state.rollRate),
radians(state.pitchRate),
radians(state.yawRate),
state.latitude*1.0e7,
state.longitude*1.0e7,
(float)state.altitude,
0.0,
0.0,
state.speedN,
state.speedE,
state.speedD);
}
/* report SITL state to AP_Logger */
void SIM::Log_Write_SIMSTATE()
{
float yaw;
// convert to same conventions as DCM
yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
struct log_AHRS pkt = {
LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG),
time_us : AP_HAL::micros64(),
roll : (int16_t)(state.rollDeg*100),
pitch : (int16_t)(state.pitchDeg*100),
yaw : (uint16_t)(wrap_360_cd(yaw*100)),
alt : (float)state.altitude,
lat : (int32_t)(state.latitude*1.0e7),
lng : (int32_t)(state.longitude*1.0e7),
q1 : state.quaternion.q1,
q2 : state.quaternion.q2,
q3 : state.quaternion.q3,
q4 : state.quaternion.q4,
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
/*
convert a set of roll rates from earth frame to body frame
output values are in radians/second
*/
void SIM::convert_body_frame(double rollDeg, double pitchDeg,
double rollRate, double pitchRate, double yawRate,
double *p, double *q, double *r)
{
double phi, theta, phiDot, thetaDot, psiDot;
phi = ToRad(rollDeg);
theta = ToRad(pitchDeg);
phiDot = ToRad(rollRate);
thetaDot = ToRad(pitchRate);
psiDot = ToRad(yawRate);
*p = phiDot - psiDot*sin(theta);
*q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta);
*r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot;
}
/*
convert angular velocities from body frame to
earth frame.
all inputs and outputs are in radians/s
*/
Vector3f SIM::convert_earth_frame(const Matrix3f &dcm, const Vector3f &gyro)
{
float p = gyro.x;
float q = gyro.y;
float r = gyro.z;
float phi, theta, psi;
dcm.to_euler(&phi, &theta, &psi);
float phiDot = p + tanf(theta)*(q*sinf(phi) + r*cosf(phi));
float thetaDot = q*cosf(phi) - r*sinf(phi);
if (fabsf(cosf(theta)) < 1.0e-20f) {
theta += 1.0e-10f;
}
float psiDot = (q*sinf(phi) + r*cosf(phi))/cosf(theta);
return Vector3f(phiDot, thetaDot, psiDot);
}
// get the rangefinder reading for the desired rotation, returns -1 for no data
float SIM::get_rangefinder(uint8_t instance) {
if (instance < RANGEFINDER_MAX_INSTANCES) {
return state.rangefinder_m[instance];
}
return -1;
};
float SIM::measure_distance_at_angle_bf(const Location &location, float angle) const
{
// should we populate state.rangefinder_m[...] from this?
Vector2f vehicle_pos_cm;
if (!location.get_vector_xy_from_origin_NE(vehicle_pos_cm)) {
// should probably use SITL variables...
return 0.0f;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
static uint64_t count = 0;
if (count == 0) {
unlink("/tmp/rayfile.scr");
unlink("/tmp/intersectionsfile.scr");
}
count++;
// the 1000 here is so the files don't grow unbounded
const bool write_debug_files = count < 1000;
FILE *rayfile = nullptr;
if (write_debug_files) {
rayfile = fopen("/tmp/rayfile.scr", "a");
}
#endif
// cast a ray from location out 200m...
Location location2 = location;
location2.offset_bearing(wrap_180(angle + state.yawDeg), 200);
Vector2f ray_endpos_cm;
if (!location2.get_vector_xy_from_origin_NE(ray_endpos_cm)) {
// should probably use SITL variables...
return 0.0f;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (rayfile != nullptr) {
::fprintf(rayfile, "map icon %f %f barrell\n", location2.lat*1e-7, location2.lng*1e-7);
fclose(rayfile);
}
// setup a grid of posts
FILE *postfile = nullptr;
FILE *intersectionsfile = nullptr;
if (write_debug_files) {
static bool postfile_written;
if (!postfile_written) {
::fprintf(stderr, "Writing /tmp/post-locations.scr\n");
postfile_written = true;
postfile = fopen("/tmp/post-locations.scr", "w");
}
intersectionsfile = fopen("/tmp/intersections.scr", "a");
}
#endif
const float radius_cm = 100.0f;
float min_dist_cm = 1000000.0;
const uint8_t num_post_offset = 10;
for (int8_t x=-num_post_offset; x<num_post_offset; x++) {
for (int8_t y=-num_post_offset; y<num_post_offset; y++) {
Location post_location = post_origin;
post_location.offset(x*10+3, y*10+2);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (postfile != nullptr) {
::fprintf(postfile, "map circle %f %f %f blue\n", post_location.lat*1e-7, post_location.lng*1e-7, radius_cm/100.0);
}
#endif
Vector2f post_position_cm;
if (!post_location.get_vector_xy_from_origin_NE(post_position_cm)) {
// should probably use SITL variables...
return 0.0f;
}
Vector2f intersection_point_cm;
if (Vector2f::circle_segment_intersection(ray_endpos_cm, vehicle_pos_cm, post_position_cm, radius_cm, intersection_point_cm)) {
float dist_cm = (intersection_point_cm-vehicle_pos_cm).length();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (intersectionsfile != nullptr) {
Location intersection_point = location;
intersection_point.offset(intersection_point_cm.x/100.0,
intersection_point_cm.y/100.0);
::fprintf(intersectionsfile,
"map icon %f %f barrell\n",
intersection_point.lat*1e-7,
intersection_point.lng*1e-7);
}
#endif
if (dist_cm < min_dist_cm) {
min_dist_cm = dist_cm;
}
}
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (postfile != nullptr) {
fclose(postfile);
}
if (intersectionsfile != nullptr) {
fclose(intersectionsfile);
}
#endif
// ::fprintf(stderr, "Distance @%f = %fm\n", angle, min_dist_cm/100.0f);
return min_dist_cm / 100.0f;
}
} // namespace SITL
namespace AP {
SITL::SIM *sitl()
{
return SITL::SIM::get_singleton();
}
};
#endif // AP_SIM_ENABLED
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