mirror of https://github.com/ArduPilot/ardupilot
134 lines
4.9 KiB
C++
134 lines
4.9 KiB
C++
#pragma once
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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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* SITL-based AHRS (Attitude Heading Reference System) interface for
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* ArduPilot
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*
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*/
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#include "AP_AHRS_config.h"
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#if AP_AHRS_SIM_ENABLED
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#include "AP_AHRS_Backend.h"
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#include <GCS_MAVLink/GCS.h>
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#include <SITL/SITL.h>
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#if HAL_NAVEKF3_AVAILABLE
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#endif
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class AP_AHRS_SIM : public AP_AHRS_Backend {
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public:
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#if HAL_NAVEKF3_AVAILABLE
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AP_AHRS_SIM(NavEKF3 &_EKF3) :
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AP_AHRS_Backend(),
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EKF3(_EKF3)
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{ }
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~AP_AHRS_SIM() {}
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#else
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// a version of the constructor which doesn't take a non-existant
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// NavEKF3 class instance as a parameter.
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AP_AHRS_SIM() : AP_AHRS_Backend() { }
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#endif
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CLASS_NO_COPY(AP_AHRS_SIM);
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// reset the current gyro drift estimate
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// should be called if gyro offsets are recalculated
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void reset_gyro_drift() override {};
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// Methods
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void update() override { }
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void get_results(Estimates &results) override;
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void reset() override { return; }
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// get latest altitude estimate above ground level in meters and validity flag
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bool get_hagl(float &hagl) const override WARN_IF_UNUSED;
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// return a wind estimation vector, in m/s
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bool wind_estimate(Vector3f &wind) const override;
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// return an airspeed estimate if available. return true
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// if we have an estimate
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bool airspeed_EAS(float &airspeed_ret) const override;
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// return an airspeed estimate if available. return true
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// if we have an estimate from a specific sensor index
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bool airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const override;
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// return a ground vector estimate in meters/second, in North/East order
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Vector2f groundspeed_vector() override;
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bool use_compass() override { return true; }
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// return the quaternion defining the rotation from NED to XYZ (body) axes
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bool get_quaternion(Quaternion &quat) const override WARN_IF_UNUSED;
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// is the AHRS subsystem healthy?
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bool healthy() const override { return true; }
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bool get_velocity_NED(Vector3f &vec) const override;
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// Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
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// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
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bool get_vert_pos_rate_D(float &velocity) const override;
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
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// requires_position should be true if horizontal position configuration should be checked (not used)
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bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const override { return true; }
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// get_filter_status - returns filter status as a series of flags
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bool get_filter_status(nav_filter_status &status) const override;
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// get compass offset estimates
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// true if offsets are valid
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bool get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const override;
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// relative-origin functions for fallback in AP_InertialNav
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bool get_origin(Location &ret) const override;
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bool get_relative_position_NED_origin(Vector3f &vec) const override;
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bool get_relative_position_NE_origin(Vector2f &posNE) const override;
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bool get_relative_position_D_origin(float &posD) const override;
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void send_ekf_status_report(class GCS_MAVLINK &link) const override;
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void get_control_limits(float &ekfGndSpdLimit, float &controlScaleXY) const override;
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bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const override;
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bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override;
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private:
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// dead-reckoning support
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bool get_location(Location &loc) const;
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#if HAL_NAVEKF3_AVAILABLE
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// a reference to the EKF3 backend that we can use to send in
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// body-frame-odometry data into the EKF. Rightfully there should
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// be something over in the SITL directory doing this.
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NavEKF3 &EKF3;
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#endif
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class SITL::SIM *_sitl;
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uint32_t _last_body_odm_update_ms;
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};
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#endif // AP_AHRS_SIM_ENABLED
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