mirror of https://github.com/ArduPilot/ardupilot
495 lines
13 KiB
C++
495 lines
13 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include "UARTDriver.h"
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#include "Scheduler.h"
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#include <stdio.h>
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#include <signal.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <sys/select.h>
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#include <AP_Param/AP_Param.h>
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#include <SITL/SIM_JSBSim.h>
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#include <AP_HAL/utility/Socket.h>
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extern const AP_HAL::HAL& hal;
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using namespace HALSITL;
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void SITL_State::_set_param_default(const char *parm)
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{
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char *pdup = strdup(parm);
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char *p = strchr(pdup, '=');
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if (p == NULL) {
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printf("Please specify parameter as NAME=VALUE");
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exit(1);
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}
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float value = strtof(p+1, NULL);
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*p = 0;
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enum ap_var_type var_type;
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AP_Param *vp = AP_Param::find(pdup, &var_type);
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if (vp == NULL) {
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printf("Unknown parameter %s\n", pdup);
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exit(1);
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}
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if (var_type == AP_PARAM_FLOAT) {
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((AP_Float *)vp)->set_and_save(value);
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} else if (var_type == AP_PARAM_INT32) {
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((AP_Int32 *)vp)->set_and_save(value);
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} else if (var_type == AP_PARAM_INT16) {
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((AP_Int16 *)vp)->set_and_save(value);
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} else if (var_type == AP_PARAM_INT8) {
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((AP_Int8 *)vp)->set_and_save(value);
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} else {
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printf("Unable to set parameter %s\n", pdup);
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exit(1);
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}
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printf("Set parameter %s to %f\n", pdup, value);
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free(pdup);
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}
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/*
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setup for SITL handling
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*/
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void SITL_State::_sitl_setup(const char *home_str)
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{
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_home_str = home_str;
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#ifndef __CYGWIN__
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_parent_pid = getppid();
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#endif
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_rcout_addr.sin_family = AF_INET;
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_rcout_addr.sin_port = htons(_rcout_port);
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inet_pton(AF_INET, _fdm_address, &_rcout_addr.sin_addr);
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#ifndef HIL_MODE
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_setup_fdm();
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#endif
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fprintf(stdout, "Starting SITL input\n");
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// find the barometer object if it exists
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_sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
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_barometer = (AP_Baro *)AP_Param::find_object("GND_");
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_ins = (AP_InertialSensor *)AP_Param::find_object("INS_");
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_compass = (Compass *)AP_Param::find_object("COMPASS_");
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#if AP_TERRAIN_AVAILABLE
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_terrain = (AP_Terrain *)AP_Param::find_object("TERRAIN_");
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#endif
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_optical_flow = (OpticalFlow *)AP_Param::find_object("FLOW");
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if (_sitl != NULL) {
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// setup some initial values
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#ifndef HIL_MODE
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_update_barometer(100);
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_update_ins(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0, 100);
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_update_compass(0, 0, 0);
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_update_gps(0, 0, 0, 0, 0, 0, false);
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#endif
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if (enable_gimbal) {
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gimbal = new SITL::Gimbal(_sitl->state);
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}
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fg_socket.connect("127.0.0.1", 5503);
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}
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if (_synthetic_clock_mode) {
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// start with non-zero clock
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hal.scheduler->stop_clock(1);
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}
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}
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#ifndef HIL_MODE
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/*
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setup a SITL FDM listening UDP port
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*/
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void SITL_State::_setup_fdm(void)
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{
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if (!_sitl_rc_in.bind("0.0.0.0", _simin_port)) {
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fprintf(stderr, "SITL: socket bind failed - %s\n", strerror(errno));
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exit(1);
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}
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_sitl_rc_in.reuseaddress();
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_sitl_rc_in.set_blocking(false);
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}
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#endif
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/*
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step the FDM by one time step
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*/
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void SITL_State::_fdm_input_step(void)
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{
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static uint32_t last_pwm_input = 0;
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_fdm_input_local();
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/* make sure we die if our parent dies */
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if (kill(_parent_pid, 0) != 0) {
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exit(1);
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}
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if (_scheduler->interrupts_are_blocked() || _sitl == NULL) {
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return;
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}
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// simulate RC input at 50Hz
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if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
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last_pwm_input = AP_HAL::millis();
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new_rc_input = true;
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}
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_scheduler->sitl_begin_atomic();
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if (_update_count == 0 && _sitl != NULL) {
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_update_gps(0, 0, 0, 0, 0, 0, false);
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_update_barometer(0);
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_scheduler->timer_event();
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_scheduler->sitl_end_atomic();
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return;
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}
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if (_sitl != NULL) {
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_update_gps(_sitl->state.latitude, _sitl->state.longitude,
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_sitl->state.altitude,
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_sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
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!_sitl->gps_disable);
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_update_ins(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg,
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_sitl->state.rollRate, _sitl->state.pitchRate, _sitl->state.yawRate,
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_sitl->state.xAccel, _sitl->state.yAccel, _sitl->state.zAccel,
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_sitl->state.airspeed, _sitl->state.altitude);
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_update_barometer(_sitl->state.altitude);
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_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg);
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_update_flow();
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if (_sitl->adsb_plane_count >= 0 &&
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adsb == nullptr) {
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adsb = new SITL::ADSB(_sitl->state, _home_str);
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} else if (_sitl->adsb_plane_count == -1 &&
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adsb != nullptr) {
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delete adsb;
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adsb = nullptr;
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}
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}
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// trigger all APM timers.
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_scheduler->timer_event();
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_scheduler->sitl_end_atomic();
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}
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void SITL_State::wait_clock(uint64_t wait_time_usec)
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{
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while (AP_HAL::micros64() < wait_time_usec) {
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_fdm_input_step();
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}
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}
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#ifndef HIL_MODE
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/*
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check for a SITL FDM packet
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*/
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void SITL_State::_fdm_input(void)
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{
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ssize_t size;
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struct pwm_packet {
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uint16_t pwm[16];
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} pwm_pkt;
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size = _sitl_rc_in.recv(&pwm_pkt, sizeof(pwm_pkt), 0);
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switch (size) {
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case 8*2:
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case 16*2: {
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// a packet giving the receiver PWM inputs
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uint8_t i;
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for (i=0; i<size/2; i++) {
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// setup the pwm input for the RC channel inputs
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if (i < _sitl->state.rcin_chan_count) {
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// we're using rc from simulator
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continue;
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}
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if (pwm_pkt.pwm[i] != 0) {
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pwm_input[i] = pwm_pkt.pwm[i];
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}
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}
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break;
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}
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}
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}
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/*
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output current state to flightgear
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*/
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void SITL_State::_output_to_flightgear(void)
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{
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SITL::FGNetFDM fdm {};
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const SITL::sitl_fdm &sfdm = _sitl->state;
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fdm.version = 0x18;
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fdm.padding = 0;
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fdm.longitude = radians(sfdm.longitude);
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fdm.latitude = radians(sfdm.latitude);
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fdm.altitude = sfdm.altitude;
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fdm.agl = sfdm.altitude;
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fdm.phi = radians(sfdm.rollDeg);
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fdm.theta = radians(sfdm.pitchDeg);
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fdm.psi = radians(sfdm.yawDeg);
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if (_vehicle == ArduCopter) {
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fdm.num_engines = 4;
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for (uint8_t i=0; i<4; i++) {
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fdm.rpm[i] = constrain_float((pwm_output[i]-1000), 0, 1000);
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}
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} else {
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fdm.num_engines = 4;
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fdm.rpm[0] = constrain_float((pwm_output[2]-1000)*3, 0, 3000);
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// for quadplane
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fdm.rpm[1] = constrain_float((pwm_output[5]-1000)*12, 0, 12000);
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fdm.rpm[2] = constrain_float((pwm_output[6]-1000)*12, 0, 12000);
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fdm.rpm[3] = constrain_float((pwm_output[7]-1000)*12, 0, 12000);
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}
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fdm.ByteSwap();
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fg_socket.send(&fdm, sizeof(fdm));
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}
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/*
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get FDM input from a local model
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*/
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void SITL_State::_fdm_input_local(void)
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{
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SITL::Aircraft::sitl_input input;
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// check for direct RC input
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_fdm_input();
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// construct servos structure for FDM
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_simulator_servos(input);
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// update the model
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sitl_model->update(input);
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// get FDM output from the model
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if (_sitl) {
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sitl_model->fill_fdm(_sitl->state);
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_sitl->update_rate_hz = sitl_model->get_rate_hz();
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if (_sitl->rc_fail == 0) {
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for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
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pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
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}
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}
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}
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if (gimbal != NULL) {
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gimbal->update();
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}
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if (adsb != NULL) {
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adsb->update();
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}
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if (_sitl) {
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_output_to_flightgear();
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}
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// update simulation time
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if (_sitl) {
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hal.scheduler->stop_clock(_sitl->state.timestamp_us);
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} else {
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hal.scheduler->stop_clock(AP_HAL::micros64()+100);
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}
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_synthetic_clock_mode = true;
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_update_count++;
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}
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#endif
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/*
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create sitl_input structure for sending to FDM
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*/
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void SITL_State::_simulator_servos(SITL::Aircraft::sitl_input &input)
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{
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static uint32_t last_update_usec;
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/* this maps the registers used for PWM outputs. The RC
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* driver updates these whenever it wants the channel output
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* to change */
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uint8_t i;
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if (last_update_usec == 0) {
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for (i=0; i<SITL_NUM_CHANNELS; i++) {
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pwm_output[i] = 1000;
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}
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if (_vehicle == ArduPlane) {
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pwm_output[0] = pwm_output[1] = pwm_output[3] = 1500;
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}
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if (_vehicle == APMrover2) {
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pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] = 1500;
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}
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}
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// output at chosen framerate
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uint32_t now = AP_HAL::micros();
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last_update_usec = now;
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// pass wind into simulators, using a wind gradient below 60m
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float altitude = _barometer?_barometer->get_altitude():0;
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float wind_speed = 0;
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float wind_direction = 0;
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if (_sitl) {
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// The EKF does not like step inputs so this LPF keeps it happy.
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wind_speed = _sitl->wind_speed_active = (0.95f*_sitl->wind_speed_active) + (0.05f*_sitl->wind_speed);
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wind_direction = _sitl->wind_direction_active = (0.95f*_sitl->wind_direction_active) + (0.05f*_sitl->wind_direction);
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}
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if (altitude < 0) {
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altitude = 0;
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}
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if (altitude < 60) {
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wind_speed *= sqrtf(MAX(altitude / 60, 0));
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}
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input.wind.speed = wind_speed;
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input.wind.direction = wind_direction;
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input.wind.turbulence = _sitl?_sitl->wind_turbulance:0;
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for (i=0; i<SITL_NUM_CHANNELS; i++) {
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if (pwm_output[i] == 0xFFFF) {
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input.servos[i] = 0;
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} else {
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input.servos[i] = pwm_output[i];
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}
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}
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float engine_mul = _sitl?_sitl->engine_mul.get():1;
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bool motors_on = false;
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if (_vehicle == ArduPlane) {
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// add in engine multiplier
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if (input.servos[2] > 1000) {
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input.servos[2] = ((input.servos[2]-1000) * engine_mul) + 1000;
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if (input.servos[2] > 2000) input.servos[2] = 2000;
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}
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motors_on = ((input.servos[2]-1000)/1000.0f) > 0;
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} else if (_vehicle == APMrover2) {
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// add in engine multiplier
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if (input.servos[2] != 1500) {
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input.servos[2] = ((input.servos[2]-1500) * engine_mul) + 1500;
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if (input.servos[2] > 2000) input.servos[2] = 2000;
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if (input.servos[2] < 1000) input.servos[2] = 1000;
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}
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motors_on = ((input.servos[2]-1500)/500.0f) != 0;
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} else {
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motors_on = false;
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// apply engine multiplier to first motor
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input.servos[0] = ((input.servos[0]-1000) * engine_mul) + 1000;
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// run checks on each motor
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for (i=0; i<4; i++) {
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// check motors do not exceed their limits
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if (input.servos[i] > 2000) input.servos[i] = 2000;
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if (input.servos[i] < 1000) input.servos[i] = 1000;
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// update motor_on flag
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if ((input.servos[i]-1000)/1000.0f > 0) {
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motors_on = true;
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}
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}
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}
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if (_sitl) {
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_sitl->motors_on = motors_on;
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}
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float voltage = 0;
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_current = 0;
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if (_sitl != nullptr) {
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if (_sitl->state.battery_voltage <= 0) {
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// simulate simple battery setup
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float throttle = motors_on?(input.servos[2]-1000) / 1000.0f:0;
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// lose 0.7V at full throttle
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voltage = _sitl->batt_voltage - 0.7f*fabsf(throttle);
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// assume 50A at full throttle
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_current = 50.0f * fabsf(throttle);
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} else {
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// FDM provides voltage and current
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voltage = _sitl->state.battery_voltage;
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_current = _sitl->state.battery_current;
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}
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}
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// assume 3DR power brick
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voltage_pin_value = ((voltage / 10.1f) / 5.0f) * 1024;
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current_pin_value = ((_current / 17.0f) / 5.0f) * 1024;
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}
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// generate a random float between -1 and 1
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float SITL_State::_rand_float(void)
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{
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return ((((unsigned)random()) % 2000000) - 1.0e6) / 1.0e6;
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}
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// generate a random Vector3f of size 1
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Vector3f SITL_State::_rand_vec3f(void)
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{
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Vector3f v = Vector3f(_rand_float(),
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_rand_float(),
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_rand_float());
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if (v.length() != 0.0f) {
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v.normalize();
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}
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return v;
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}
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void SITL_State::init(int argc, char * const argv[])
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{
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pwm_input[0] = pwm_input[1] = pwm_input[3] = 1500;
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pwm_input[4] = pwm_input[7] = 1800;
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pwm_input[2] = pwm_input[5] = pwm_input[6] = 1000;
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_scheduler = Scheduler::from(hal.scheduler);
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_parse_command_line(argc, argv);
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}
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/*
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return height above the ground in meters
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*/
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float SITL_State::height_agl(void)
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{
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static float home_alt = -1;
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if (home_alt == -1 && _sitl->state.altitude > 0) {
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// remember home altitude as first non-zero altitude
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home_alt = _sitl->state.altitude;
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}
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#if AP_TERRAIN_AVAILABLE
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if (_terrain &&
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_sitl->terrain_enable) {
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// get height above terrain from AP_Terrain. This assumes
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// AP_Terrain is working
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float terrain_height_amsl;
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struct Location location;
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location.lat = _sitl->state.latitude*1.0e7;
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location.lng = _sitl->state.longitude*1.0e7;
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if (_terrain->height_amsl(location, terrain_height_amsl, false)) {
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return _sitl->state.altitude - terrain_height_amsl;
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}
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}
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#endif
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// fall back to flat earth model
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return _sitl->state.altitude - home_alt;
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}
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#endif
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