mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.0 KiB
C++
111 lines
3.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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gimbal simulator class
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*/
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#ifndef _SIM_GIMBAL_H
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#define _SIM_GIMBAL_H
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#include "SIM_Aircraft.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL/utility/Socket.h>
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class Gimbal
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{
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public:
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Gimbal(const struct sitl_fdm &_fdm);
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void update(void);
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private:
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const struct sitl_fdm &fdm;
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const char *target_address;
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const uint16_t target_port;
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// rotation matrix (gimbal body -> earth)
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Matrix3f dcm;
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// time of last update
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uint32_t last_update_us;
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// true angular rate of gimbal in body frame (rad/s)
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Vector3f gimbal_angular_rate;
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// observed angular rate (including biases)
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Vector3f gyro;
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/* joint angles, in radians. in yaw/roll/pitch order. Relative to fwd.
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So 0,0,0 points forward.
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Pi/2,0,0 means pointing right
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0, Pi/2, 0 means pointing fwd, but rolled 90 degrees to right
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0, 0, -Pi/2, means pointing down
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*/
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Vector3f joint_angles;
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// physical constraints on joint angles in (roll, pitch, azimuth) order
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Vector3f lower_joint_limits;
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Vector3f upper_joint_limits;
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const float travelLimitGain;
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// true gyro bias
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Vector3f true_gyro_bias;
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// reporting variables. gimbal pushes these to vehicle code over
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// MAVLink at approx 100Hz
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// reporting period in ms
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const float reporting_period_ms;
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// integral of gyro vector over last time interval. In radians
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Vector3f delta_angle;
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// integral of accel vector over last time interval. In m/s
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Vector3f delta_velocity;
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/*
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control variables from the vehicle
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*/
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// angular rate in rad/s. In body frame of gimbal
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Vector3f demanded_angular_rate;
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// gyro bias provided by EKF on vehicle. In rad/s.
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// Should be subtracted from the gyro readings to get true body
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// rotatation rates
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Vector3f supplied_gyro_bias;
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uint32_t last_report_us;
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uint32_t last_heartbeat_ms;
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bool seen_heartbeat;
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bool seen_gimbal_control;
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uint8_t vehicle_system_id;
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uint8_t vehicle_component_id;
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SocketAPM mav_socket;
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struct {
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// socket to telem2 on aircraft
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bool connected;
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mavlink_message_t rxmsg;
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mavlink_status_t status;
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uint8_t seq;
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} mavlink;
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void send_report(void);
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};
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#endif // CONFIG_HAL_BOARD
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#endif // _SIM_GIMBAL_H
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