mirror of https://github.com/ArduPilot/ardupilot
130 lines
4.4 KiB
C++
130 lines
4.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class DataFlash_Class;
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namespace SITL {
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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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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/s in body frame
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double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
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double airspeed; // m/s
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double battery_voltage; // Volts
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double battery_current; // Amps
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double rpm1; // main prop RPM
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double rpm2; // secondary RPM
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uint8_t rcin_chan_count;
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float rcin[8]; // RC input 0..1
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};
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// number of rc output channels
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#define SITL_NUM_CHANNELS 14
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class SITL {
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public:
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SITL() {
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// set a default compass offset
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mag_ofs.set(Vector3f(5, 13, -18));
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AP_Param::setup_object_defaults(this, var_info);
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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_MTK = 2,
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GPS_TYPE_MTK16 = 3,
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GPS_TYPE_MTK19 = 4,
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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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};
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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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// true when motors are active
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bool motors_on;
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static const struct AP_Param::GroupInfo var_info[];
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// noise levels for simulated sensors
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AP_Float baro_noise; // in metres
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AP_Float baro_drift; // in metres per second
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AP_Float baro_glitch; // glitch in meters
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AP_Float gyro_noise; // in degrees/second
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AP_Vector3f gyro_scale; // percentage
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AP_Float accel_noise; // in m/s/s
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AP_Float accel2_noise; // in m/s/s
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AP_Vector3f accel_bias; // in m/s/s
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AP_Float arspd_noise; // in m/s
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AP_Float arspd_fail; // pitot tube failure
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AP_Float mag_noise; // in mag units (earth field is 818)
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AP_Float mag_error; // in degrees
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AP_Vector3f mag_mot; // in mag units per amp
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AP_Vector3f mag_ofs; // in mag units
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AP_Float servo_rate; // servo speed in degrees/second
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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 gps_disable; // disable simulated GPS
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AP_Int8 gps2_enable; // enable 2nd simulated GPS
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AP_Int8 gps_delay; // delay in samples
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AP_Int8 gps_type; // see enum GPSType
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AP_Float gps_byteloss;// byte loss as a percent
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AP_Int8 gps_numsats; // number of visible satellites
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AP_Vector3f gps_glitch; // glitch offsets in lat, lon and altitude
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AP_Int8 gps_hertz; // GPS update rate in Hz
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AP_Float batt_voltage; // battery voltage base
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AP_Float accel_fail; // accelerometer failure value
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AP_Int8 rc_fail; // fail RC input
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AP_Int8 baro_disable; // disable simulated barometer
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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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// wind control
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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 gps_drift_alt;
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AP_Int16 baro_delay; // barometer data delay in ms
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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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void simstate_send(mavlink_channel_t chan);
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void Log_Write_SIMSTATE(DataFlash_Class *dataflash);
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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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};
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} // namespace SITL
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