mirror of https://github.com/ArduPilot/ardupilot
101 lines
3.2 KiB
C++
101 lines
3.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __SITL_H__
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#define __SITL_H__
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#include <AP_Param.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <GCS_MAVLink.h>
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#include <DataFlash.h>
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struct PACKED sitl_fdm {
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// this is the packet sent by the simulator
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// to the APM executable to update the simulator state
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// All values are little-endian
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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 earth frame
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double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
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double airspeed; // m/s
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uint32_t magic; // 0x4c56414f
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};
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class SITL
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{
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public:
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SITL() {
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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_SBP_RTK = 7,
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};
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struct sitl_fdm state;
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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_Float accel_noise; // in m/s/s
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AP_Vector3f accel_bias; // in m/s/s
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AP_Float aspd_noise; // in m/s
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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_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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// 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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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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};
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#endif // __SITL_H__
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