ardupilot/libraries/SITL/SIM_Vicon.h

79 lines
2.1 KiB
C++

/*
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/>.
*/
/*
simple particle sensor simulation
*/
#pragma once
#include "SIM_Aircraft.h"
#include <SITL/SITL.h>
#include <AP_HAL/utility/RingBuffer.h>
namespace SITL {
class Vicon {
public:
Vicon();
// update state
void update(const Location &loc, const Vector3f &position, const Quaternion &attitude);
// return fd on which data from the device can be read, and data
// to the device can be written
int fd() { return fd_their_end; }
private:
SITL *_sitl;
// TODO: make these parameters:
const uint8_t system_id = 17;
const uint8_t component_id = 18;
// we share channels with the ArduPilot binary!
const mavlink_channel_t mavlink_ch = (mavlink_channel_t)(MAVLINK_COMM_0+5);
int fd_their_end;
int fd_my_end;
struct obs_elements {
uint32_t time_ms; // measurement timestamp (msec)
Vector3f position;
Quaternion attitude;
};
struct {
const uint16_t observation_interval_ms = 20;
// delay results by some multiplier of the observation_interval:
ObjectArray<obs_elements> *observation_history;
uint32_t last_observation_ms;
} vicon;
void update_vicon_position_estimate(const Location &loc,
const Vector3f &position,
const Quaternion &attitude);
void maybe_send_heartbeat();
uint32_t last_heartbeat_ms;
bool init_sitl_pointer();
};
}