mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
/*
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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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simple particle sensor simulation
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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#include <SITL/SITL.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include "SIM_SerialDevice.h"
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namespace SITL {
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class Vicon : public SerialDevice {
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public:
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Vicon();
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// update state
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void update(const Location &loc, const Vector3d &position, const Vector3f &velocity, const Quaternion &attitude);
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private:
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// TODO: make these parameters:
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const uint8_t system_id = 17;
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const uint8_t component_id = 18;
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uint64_t last_observation_usec; // time last observation was sent
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uint64_t time_offset_us; // simulated timeoffset between external system and autopilot
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// buffer of messages to send
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struct {
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uint64_t time_send_us; // system time this message should be sent or 0 if no message to send
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mavlink_message_t obs_msg; // message to be sent
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} msg_buf[3];
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// SIM_VICON_TYPE parameter bit values
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enum class ViconTypeMask : uint8_t {
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VISION_POSITION_ESTIMATE = (1 << 0),
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VISION_SPEED_ESTIMATE = (1 << 1),
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VICON_POSITION_ESTIMATE = (1 << 2),
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VISION_POSITION_DELTA = (1 << 3),
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ODOMETRY = (1 << 4),
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};
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// return true if the given message type should be sent
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bool should_send(ViconTypeMask type_mask) const { return (((uint8_t)type_mask & _sitl->vicon_type_mask.get()) > 0); }
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// get unused index in msg_buf
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bool get_free_msg_buf_index(uint8_t &index);
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void update_vicon_position_estimate(const Location &loc,
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const Vector3d &position,
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const Vector3f &velocity,
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const Quaternion &attitude);
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void maybe_send_heartbeat();
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uint32_t last_heartbeat_ms;
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// position delta message
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Quaternion _attitude_prev; // Rotation to previous MAV_FRAME_BODY_FRD from MAV_FRAME_LOCAL_NED
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Vector3d _position_prev; // previous position from origin (m) MAV_FRAME_LOCAL_NED
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mavlink_status_t mav_status;
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};
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}
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