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ardupilot/libraries/AP_HAL_SITL/SITL_State.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "UARTDriver.h"
#include "Scheduler.h"
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <sys/select.h>
#include <AP_Param/AP_Param.h>
#include <SITL/SIM_JSBSim.h>
#include <AP_HAL/utility/Socket.h>
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
void SITL_State::_set_param_default(const char *parm)
{
char *pdup = strdup(parm);
char *p = strchr(pdup, '=');
if (p == nullptr) {
printf("Please specify parameter as NAME=VALUE");
exit(1);
}
float value = strtof(p+1, nullptr);
*p = 0;
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(pdup, &var_type);
if (vp == nullptr) {
printf("Unknown parameter %s\n", pdup);
exit(1);
}
if (var_type == AP_PARAM_FLOAT) {
((AP_Float *)vp)->set_and_save(value);
} else if (var_type == AP_PARAM_INT32) {
((AP_Int32 *)vp)->set_and_save(value);
} else if (var_type == AP_PARAM_INT16) {
((AP_Int16 *)vp)->set_and_save(value);
} else if (var_type == AP_PARAM_INT8) {
((AP_Int8 *)vp)->set_and_save(value);
} else {
printf("Unable to set parameter %s\n", pdup);
exit(1);
}
printf("Set parameter %s to %f\n", pdup, value);
free(pdup);
}
/*
setup for SITL handling
*/
void SITL_State::_sitl_setup(const char *home_str)
{
_home_str = home_str;
#if !defined(__CYGWIN__) && !defined(__CYGWIN64__)
_parent_pid = getppid();
#endif
_setup_fdm();
fprintf(stdout, "Starting SITL input\n");
// find the barometer object if it exists
_sitl = AP::sitl();
if (_sitl != nullptr) {
// setup some initial values
_update_airspeed(0);
_update_rangefinder(0);
if (enable_gimbal) {
gimbal = new SITL::Gimbal(_sitl->state);
}
sitl_model->set_buzzer(&_sitl->buzzer_sim);
sitl_model->set_sprayer(&_sitl->sprayer_sim);
sitl_model->set_gripper_servo(&_sitl->gripper_sim);
sitl_model->set_gripper_epm(&_sitl->gripper_epm_sim);
sitl_model->set_parachute(&_sitl->parachute_sim);
sitl_model->set_precland(&_sitl->precland_sim);
_sitl->i2c_sim.init();
sitl_model->set_i2c(&_sitl->i2c_sim);
if (_use_fg_view) {
fg_socket.connect(_fg_address, _fg_view_port);
}
fprintf(stdout, "Using Irlock at port : %d\n", _irlock_port);
_sitl->irlock_port = _irlock_port;
}
if (_synthetic_clock_mode) {
// start with non-zero clock
hal.scheduler->stop_clock(1);
}
}
/*
setup a SITL FDM listening UDP port
*/
void SITL_State::_setup_fdm(void)
{
if (!_sitl_rc_in.reuseaddress()) {
fprintf(stderr, "SITL: socket reuseaddress failed on RC in port: %d - %s\n", _rcin_port, strerror(errno));
fprintf(stderr, "Aborting launch...\n");
exit(1);
}
if (!_sitl_rc_in.bind("0.0.0.0", _rcin_port)) {
fprintf(stderr, "SITL: socket bind failed on RC in port : %d - %s\n", _rcin_port, strerror(errno));
fprintf(stderr, "Aborting launch...\n");
exit(1);
}
if (!_sitl_rc_in.set_blocking(false)) {
fprintf(stderr, "SITL: socket set_blocking(false) failed on RC in port: %d - %s\n", _rcin_port, strerror(errno));
fprintf(stderr, "Aborting launch...\n");
exit(1);
}
if (!_sitl_rc_in.set_cloexec()) {
fprintf(stderr, "SITL: socket set_cloexec() failed on RC in port: %d - %s\n", _rcin_port, strerror(errno));
fprintf(stderr, "Aborting launch...\n");
exit(1);
}
}
/*
step the FDM by one time step
*/
void SITL_State::_fdm_input_step(void)
{
static uint32_t last_pwm_input = 0;
_fdm_input_local();
/* make sure we die if our parent dies */
if (kill(_parent_pid, 0) != 0) {
exit(1);
}
if (_scheduler->interrupts_are_blocked() || _sitl == nullptr) {
return;
}
// simulate RC input at 50Hz
if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl != nullptr && _sitl->rc_fail != SITL::SIM::SITL_RCFail_NoPulses) {
last_pwm_input = AP_HAL::millis();
new_rc_input = true;
}
_scheduler->sitl_begin_atomic();
if (_update_count == 0 && _sitl != nullptr) {
HALSITL::Scheduler::timer_event();
_scheduler->sitl_end_atomic();
return;
}
if (_sitl != nullptr) {
_update_airspeed(_sitl->state.airspeed);
_update_rangefinder(_sitl->state.range);
if (_sitl->adsb_plane_count >= 0 &&
adsb == nullptr) {
adsb = new SITL::ADSB(_sitl->state, sitl_model->get_home(), get_instance());
} else if (_sitl->adsb_plane_count == -1 &&
adsb != nullptr) {
delete adsb;
adsb = nullptr;
}
}
// trigger all APM timers.
HALSITL::Scheduler::timer_event();
_scheduler->sitl_end_atomic();
}
void SITL_State::wait_clock(uint64_t wait_time_usec)
{
while (AP_HAL::micros64() < wait_time_usec) {
if (hal.scheduler->in_main_thread() ||
Scheduler::from(hal.scheduler)->semaphore_wait_hack_required()) {
_fdm_input_step();
} else {
usleep(1000);
}
}
// check the outbound TCP queue size. If it is too long then
// MAVProxy/pymavlink take too long to process packets and it ends
// up seeing traffic well into our past and hits time-out
// conditions.
if (sitl_model->get_speedup() > 1) {
while (true) {
const int queue_length = ((HALSITL::UARTDriver*)hal.serial(0))->get_system_outqueue_length();
// ::fprintf(stderr, "queue_length=%d\n", (signed)queue_length);
if (queue_length < 1024) {
break;
}
usleep(1000);
}
}
}
#define streq(a, b) (!strcmp(a, b))
int SITL_State::sim_fd(const char *name, const char *arg)
{
if (streq(name, "vicon")) {
if (vicon != nullptr) {
AP_HAL::panic("Only one vicon system at a time");
}
vicon = new SITL::Vicon();
return vicon->fd();
} else if (streq(name, "benewake_tf02")) {
if (benewake_tf02 != nullptr) {
AP_HAL::panic("Only one benewake_tf02 at a time");
}
benewake_tf02 = new SITL::RF_Benewake_TF02();
return benewake_tf02->fd();
} else if (streq(name, "benewake_tf03")) {
if (benewake_tf03 != nullptr) {
AP_HAL::panic("Only one benewake_tf03 at a time");
}
benewake_tf03 = new SITL::RF_Benewake_TF03();
return benewake_tf03->fd();
} else if (streq(name, "benewake_tfmini")) {
if (benewake_tfmini != nullptr) {
AP_HAL::panic("Only one benewake_tfmini at a time");
}
benewake_tfmini = new SITL::RF_Benewake_TFmini();
return benewake_tfmini->fd();
} else if (streq(name, "lightwareserial")) {
if (lightwareserial != nullptr) {
AP_HAL::panic("Only one lightwareserial at a time");
}
lightwareserial = new SITL::RF_LightWareSerial();
return lightwareserial->fd();
} else if (streq(name, "lightwareserial-binary")) {
if (lightwareserial_binary != nullptr) {
AP_HAL::panic("Only one lightwareserial-binary at a time");
}
lightwareserial_binary = new SITL::RF_LightWareSerialBinary();
return lightwareserial_binary->fd();
} else if (streq(name, "lanbao")) {
if (lanbao != nullptr) {
AP_HAL::panic("Only one lanbao at a time");
}
lanbao = new SITL::RF_Lanbao();
return lanbao->fd();
} else if (streq(name, "blping")) {
if (blping != nullptr) {
AP_HAL::panic("Only one blping at a time");
}
blping = new SITL::RF_BLping();
return blping->fd();
} else if (streq(name, "leddarone")) {
if (leddarone != nullptr) {
AP_HAL::panic("Only one leddarone at a time");
}
leddarone = new SITL::RF_LeddarOne();
return leddarone->fd();
} else if (streq(name, "USD1_v0")) {
if (USD1_v0 != nullptr) {
AP_HAL::panic("Only one USD1_v0 at a time");
}
USD1_v0 = new SITL::RF_USD1_v0();
return USD1_v0->fd();
} else if (streq(name, "USD1_v1")) {
if (USD1_v1 != nullptr) {
AP_HAL::panic("Only one USD1_v1 at a time");
}
USD1_v1 = new SITL::RF_USD1_v1();
return USD1_v1->fd();
} else if (streq(name, "maxsonarseriallv")) {
if (maxsonarseriallv != nullptr) {
AP_HAL::panic("Only one maxsonarseriallv at a time");
}
maxsonarseriallv = new SITL::RF_MaxsonarSerialLV();
return maxsonarseriallv->fd();
} else if (streq(name, "wasp")) {
if (wasp != nullptr) {
AP_HAL::panic("Only one wasp at a time");
}
wasp = new SITL::RF_Wasp();
return wasp->fd();
} else if (streq(name, "nmea")) {
if (nmea != nullptr) {
AP_HAL::panic("Only one nmea at a time");
}
nmea = new SITL::RF_NMEA();
return nmea->fd();
} else if (streq(name, "rf_mavlink")) {
if (rf_mavlink != nullptr) {
AP_HAL::panic("Only one rf_mavlink at a time");
}
rf_mavlink = new SITL::RF_MAVLink();
return rf_mavlink->fd();
} else if (streq(name, "frsky-d")) {
if (frsky_d != nullptr) {
AP_HAL::panic("Only one frsky_d at a time");
}
frsky_d = new SITL::Frsky_D();
return frsky_d->fd();
// } else if (streq(name, "frsky-SPort")) {
// if (frsky_sport != nullptr) {
// AP_HAL::panic("Only one frsky_sport at a time");
// }
// frsky_sport = new SITL::Frsky_SPort();
// return frsky_sport->fd();
// } else if (streq(name, "frsky-SPortPassthrough")) {
// if (frsky_sport_passthrough != nullptr) {
// AP_HAL::panic("Only one frsky_sport passthrough at a time");
// }
// frsky_sport = new SITL::Frsky_SPortPassthrough();
// return frsky_sportpassthrough->fd();
} else if (streq(name, "crsf")) {
if (crsf != nullptr) {
AP_HAL::panic("Only one crsf at a time");
}
crsf = new SITL::CRSF();
return crsf->fd();
} else if (streq(name, "rplidara2")) {
if (rplidara2 != nullptr) {
AP_HAL::panic("Only one rplidara2 at a time");
}
rplidara2 = new SITL::PS_RPLidarA2();
return rplidara2->fd();
} else if (streq(name, "terarangertower")) {
if (terarangertower != nullptr) {
AP_HAL::panic("Only one terarangertower at a time");
}
terarangertower = new SITL::PS_TeraRangerTower();
return terarangertower->fd();
} else if (streq(name, "sf45b")) {
if (sf45b != nullptr) {
AP_HAL::panic("Only one sf45b at a time");
}
sf45b = new SITL::PS_LightWare_SF45B();
return sf45b->fd();
} else if (streq(name, "richenpower")) {
sitl_model->set_richenpower(&_sitl->richenpower_sim);
return _sitl->richenpower_sim.fd();
} else if (streq(name, "fetteconewireesc")) {
sitl_model->set_fetteconewireesc(&_sitl->fetteconewireesc_sim);
return _sitl->fetteconewireesc_sim.fd();
} else if (streq(name, "ie24")) {
sitl_model->set_ie24(&_sitl->ie24_sim);
return _sitl->ie24_sim.fd();
} else if (streq(name, "gyus42v2")) {
if (gyus42v2 != nullptr) {
AP_HAL::panic("Only one gyus42v2 at a time");
}
gyus42v2 = new SITL::RF_GYUS42v2();
return gyus42v2->fd();
} else if (streq(name, "megasquirt")) {
if (efi_ms != nullptr) {
AP_HAL::panic("Only one megasquirt at a time");
}
efi_ms = new SITL::EFI_MegaSquirt();
return efi_ms->fd();
} else if (streq(name, "VectorNav")) {
if (vectornav != nullptr) {
AP_HAL::panic("Only one VectorNav at a time");
}
vectornav = new SITL::VectorNav();
return vectornav->fd();
} else if (streq(name, "LORD")) {
if (lord != nullptr) {
AP_HAL::panic("Only one LORD at a time");
}
lord = new SITL::LORD();
return lord->fd();
} else if (streq(name, "AIS")) {
if (ais != nullptr) {
AP_HAL::panic("Only one AIS at a time");
}
ais = new SITL::AIS();
return ais->fd();
} else if (strncmp(name, "gps", 3) == 0) {
const char *p = strchr(name, ':');
if (p == nullptr) {
AP_HAL::panic("Need a GPS number (e.g. sim:gps:1)");
}
uint8_t x = atoi(p+1);
if (x <= 0 || x > ARRAY_SIZE(gps)) {
AP_HAL::panic("Bad GPS number %u", x);
}
gps[x-1] = new SITL::GPS(x-1);
return gps[x-1]->fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
}
int SITL_State::sim_fd_write(const char *name)
{
if (streq(name, "vicon")) {
if (vicon == nullptr) {
AP_HAL::panic("No vicon created");
}
return vicon->write_fd();
} else if (streq(name, "benewake_tf02")) {
if (benewake_tf02 == nullptr) {
AP_HAL::panic("No benewake_tf02 created");
}
return benewake_tf02->write_fd();
} else if (streq(name, "benewake_tf03")) {
if (benewake_tf03 == nullptr) {
AP_HAL::panic("No benewake_tf03 created");
}
return benewake_tf03->write_fd();
} else if (streq(name, "benewake_tfmini")) {
if (benewake_tfmini == nullptr) {
AP_HAL::panic("No benewake_tfmini created");
}
return benewake_tfmini->write_fd();
} else if (streq(name, "lightwareserial")) {
if (lightwareserial == nullptr) {
AP_HAL::panic("No lightwareserial created");
}
return lightwareserial->write_fd();
} else if (streq(name, "lightwareserial-binary")) {
if (lightwareserial_binary == nullptr) {
AP_HAL::panic("No lightwareserial_binary created");
}
return lightwareserial_binary->write_fd();
} else if (streq(name, "lanbao")) {
if (lanbao == nullptr) {
AP_HAL::panic("No lanbao created");
}
return lanbao->write_fd();
} else if (streq(name, "blping")) {
if (blping == nullptr) {
AP_HAL::panic("No blping created");
}
return blping->write_fd();
} else if (streq(name, "leddarone")) {
if (leddarone == nullptr) {
AP_HAL::panic("No leddarone created");
}
return leddarone->write_fd();
} else if (streq(name, "USD1_v0")) {
if (USD1_v0 == nullptr) {
AP_HAL::panic("No USD1_v0 created");
}
return USD1_v0->write_fd();
} else if (streq(name, "USD1_v1")) {
if (USD1_v1 == nullptr) {
AP_HAL::panic("No USD1_v1 created");
}
return USD1_v1->write_fd();
} else if (streq(name, "maxsonarseriallv")) {
if (maxsonarseriallv == nullptr) {
AP_HAL::panic("No maxsonarseriallv created");
}
return maxsonarseriallv->write_fd();
} else if (streq(name, "wasp")) {
if (wasp == nullptr) {
AP_HAL::panic("No wasp created");
}
return wasp->write_fd();
} else if (streq(name, "nmea")) {
if (nmea == nullptr) {
AP_HAL::panic("No nmea created");
}
return nmea->write_fd();
} else if (streq(name, "rf_mavlink")) {
if (rf_mavlink == nullptr) {
AP_HAL::panic("No rf_mavlink created");
}
return rf_mavlink->write_fd();
} else if (streq(name, "frsky-d")) {
if (frsky_d == nullptr) {
AP_HAL::panic("No frsky-d created");
}
return frsky_d->write_fd();
} else if (streq(name, "crsf")) {
if (crsf == nullptr) {
AP_HAL::panic("No crsf created");
}
return crsf->write_fd();
} else if (streq(name, "rplidara2")) {
if (rplidara2 == nullptr) {
AP_HAL::panic("No rplidara2 created");
}
return rplidara2->write_fd();
} else if (streq(name, "terarangertower")) {
if (terarangertower == nullptr) {
AP_HAL::panic("No terarangertower created");
}
return terarangertower->write_fd();
} else if (streq(name, "sf45b")) {
if (sf45b == nullptr) {
AP_HAL::panic("No sf45b created");
}
return sf45b->write_fd();
} else if (streq(name, "richenpower")) {
return _sitl->richenpower_sim.write_fd();
} else if (streq(name, "fetteconewireesc")) {
return _sitl->fetteconewireesc_sim.write_fd();
} else if (streq(name, "ie24")) {
return _sitl->ie24_sim.write_fd();
} else if (streq(name, "gyus42v2")) {
if (gyus42v2 == nullptr) {
AP_HAL::panic("No gyus42v2 created");
}
return gyus42v2->write_fd();
} else if (streq(name, "megasquirt")) {
if (efi_ms == nullptr) {
AP_HAL::panic("No megasquirt created");
}
return efi_ms->write_fd();
} else if (streq(name, "VectorNav")) {
if (vectornav == nullptr) {
AP_HAL::panic("No VectorNav created");
}
return vectornav->write_fd();
} else if (streq(name, "LORD")) {
if (lord == nullptr) {
AP_HAL::panic("No LORD created");
}
return lord->write_fd();
} else if (streq(name, "AIS")) {
if (ais == nullptr) {
AP_HAL::panic("No AIS created");
}
return ais->write_fd();
} else if (strncmp(name, "gps", 3) == 0) {
const char *p = strchr(name, ':');
if (p == nullptr) {
AP_HAL::panic("Need a GPS number (e.g. sim:gps:1)");
}
const uint8_t x = atoi(p+1);
if (x <= 0 || x > ARRAY_SIZE(gps)) {
AP_HAL::panic("Bad GPS number %u", x);
}
return gps[x-1]->write_fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
}
/*
check for a SITL RC input packet
*/
void SITL_State::_check_rc_input(void)
{
uint32_t count = 0;
while (_read_rc_sitl_input()) {
count++;
}
if (count > 100) {
::fprintf(stderr, "Read %u rc inputs\n", count);
}
}
bool SITL_State::_read_rc_sitl_input()
{
struct pwm_packet {
uint16_t pwm[16];
} pwm_pkt;
const ssize_t size = _sitl_rc_in.recv(&pwm_pkt, sizeof(pwm_pkt), 0);
switch (size) {
case -1:
return false;
case 8*2:
case 16*2: {
// a packet giving the receiver PWM inputs
for (uint8_t i=0; i<size/2; i++) {
// setup the pwm input for the RC channel inputs
if (i < _sitl->state.rcin_chan_count) {
// we're using rc from simulator
continue;
}
uint16_t pwm = pwm_pkt.pwm[i];
if (pwm != 0) {
if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_Throttle950) {
if (i == 2) {
// set throttle (assumed to be on channel 3...)
pwm = 950;
} else {
// centre all other inputs
pwm = 1500;
}
}
pwm_input[i] = pwm;
}
}
return true;
}
default:
fprintf(stderr, "Malformed SITL RC input (%ld)", (long)size);
}
return false;
}
/*
output current state to flightgear
*/
void SITL_State::_output_to_flightgear(void)
{
SITL::FGNetFDM fdm {};
const SITL::sitl_fdm &sfdm = _sitl->state;
fdm.version = 0x18;
fdm.padding = 0;
fdm.longitude = DEG_TO_RAD_DOUBLE*sfdm.longitude;
fdm.latitude = DEG_TO_RAD_DOUBLE*sfdm.latitude;
fdm.altitude = sfdm.altitude;
fdm.agl = sfdm.altitude;
fdm.phi = radians(sfdm.rollDeg);
fdm.theta = radians(sfdm.pitchDeg);
fdm.psi = radians(sfdm.yawDeg);
if (_vehicle == ArduCopter) {
fdm.num_engines = 4;
for (uint8_t i=0; i<4; i++) {
fdm.rpm[i] = constrain_float((pwm_output[i]-1000), 0, 1000);
}
} else {
fdm.num_engines = 4;
fdm.rpm[0] = constrain_float((pwm_output[2]-1000)*3, 0, 3000);
// for quadplane
fdm.rpm[1] = constrain_float((pwm_output[5]-1000)*12, 0, 12000);
fdm.rpm[2] = constrain_float((pwm_output[6]-1000)*12, 0, 12000);
fdm.rpm[3] = constrain_float((pwm_output[7]-1000)*12, 0, 12000);
}
fdm.ByteSwap();
fg_socket.send(&fdm, sizeof(fdm));
}
/*
get FDM input from a local model
*/
void SITL_State::_fdm_input_local(void)
{
struct sitl_input input;
// check for direct RC input
if (_sitl != nullptr) {
_check_rc_input();
}
// construct servos structure for FDM
_simulator_servos(input);
// read servo inputs from ride along flight controllers
ride_along.receive(input);
// update the model
sitl_model->update_model(input);
// get FDM output from the model
if (_sitl) {
sitl_model->fill_fdm(_sitl->state);
if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_None) {
for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
}
}
}
// output JSON state to ride along flight controllers
ride_along.send(_sitl->state,sitl_model->get_position_relhome());
if (gimbal != nullptr) {
gimbal->update();
}
if (adsb != nullptr) {
adsb->update();
}
if (vicon != nullptr) {
Quaternion attitude;
sitl_model->get_attitude(attitude);
vicon->update(sitl_model->get_location(),
sitl_model->get_position_relhome(),
sitl_model->get_velocity_ef(),
attitude);
}
if (benewake_tf02 != nullptr) {
benewake_tf02->update(sitl_model->rangefinder_range());
}
if (benewake_tf03 != nullptr) {
benewake_tf03->update(sitl_model->rangefinder_range());
}
if (benewake_tfmini != nullptr) {
benewake_tfmini->update(sitl_model->rangefinder_range());
}
if (lightwareserial != nullptr) {
lightwareserial->update(sitl_model->rangefinder_range());
}
if (lightwareserial_binary != nullptr) {
lightwareserial_binary->update(sitl_model->rangefinder_range());
}
if (lanbao != nullptr) {
lanbao->update(sitl_model->rangefinder_range());
}
if (blping != nullptr) {
blping->update(sitl_model->rangefinder_range());
}
if (leddarone != nullptr) {
leddarone->update(sitl_model->rangefinder_range());
}
if (USD1_v0 != nullptr) {
USD1_v0->update(sitl_model->rangefinder_range());
}
if (USD1_v1 != nullptr) {
USD1_v1->update(sitl_model->rangefinder_range());
}
if (maxsonarseriallv != nullptr) {
maxsonarseriallv->update(sitl_model->rangefinder_range());
}
if (wasp != nullptr) {
wasp->update(sitl_model->rangefinder_range());
}
if (nmea != nullptr) {
nmea->update(sitl_model->rangefinder_range());
}
if (rf_mavlink != nullptr) {
rf_mavlink->update(sitl_model->rangefinder_range());
}
if (gyus42v2 != nullptr) {
gyus42v2->update(sitl_model->rangefinder_range());
}
if (efi_ms != nullptr) {
efi_ms->update();
}
if (frsky_d != nullptr) {
frsky_d->update();
}
// if (frsky_sport != nullptr) {
// frsky_sport->update();
// }
// if (frsky_sportpassthrough != nullptr) {
// frsky_sportpassthrough->update();
// }
if (crsf != nullptr) {
crsf->update();
}
if (rplidara2 != nullptr) {
rplidara2->update(sitl_model->get_location());
}
if (terarangertower != nullptr) {
terarangertower->update(sitl_model->get_location());
}
if (sf45b != nullptr) {
sf45b->update(sitl_model->get_location());
}
if (vectornav != nullptr) {
vectornav->update();
}
if (lord != nullptr) {
lord->update();
}
if (ais != nullptr) {
ais->update();
}
for (uint8_t i=0; i<ARRAY_SIZE(gps); i++) {
if (gps[i] != nullptr) {
gps[i]->update();
}
}
if (_sitl && _use_fg_view) {
_output_to_flightgear();
}
// update simulation time
if (_sitl) {
hal.scheduler->stop_clock(_sitl->state.timestamp_us);
} else {
hal.scheduler->stop_clock(AP_HAL::micros64()+100);
}
set_height_agl();
_synthetic_clock_mode = true;
_update_count++;
}
/*
create sitl_input structure for sending to FDM
*/
void SITL_State::_simulator_servos(struct sitl_input &input)
{
static uint32_t last_update_usec;
/* this maps the registers used for PWM outputs. The RC
* driver updates these whenever it wants the channel output
* to change */
if (last_update_usec == 0 || !output_ready) {
for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
pwm_output[i] = 1000;
}
if (_vehicle == ArduPlane) {
pwm_output[0] = pwm_output[1] = pwm_output[3] = 1500;
}
if (_vehicle == Rover) {
pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] = 1500;
}
}
// output at chosen framerate
uint32_t now = AP_HAL::micros();
last_update_usec = now;
float altitude = AP::baro().get_altitude();
float wind_speed = 0;
float wind_direction = 0;
float wind_dir_z = 0;
// give 5 seconds to calibrate airspeed sensor at 0 wind speed
if (wind_start_delay_micros == 0) {
wind_start_delay_micros = now;
} else if (_sitl && (now - wind_start_delay_micros) > 5000000 ) {
// The EKF does not like step inputs so this LPF keeps it happy.
wind_speed = _sitl->wind_speed_active = (0.95f*_sitl->wind_speed_active) + (0.05f*_sitl->wind_speed);
wind_direction = _sitl->wind_direction_active = (0.95f*_sitl->wind_direction_active) + (0.05f*_sitl->wind_direction);
wind_dir_z = _sitl->wind_dir_z_active = (0.95f*_sitl->wind_dir_z_active) + (0.05f*_sitl->wind_dir_z);
// pass wind into simulators using different wind types via param SIM_WIND_T*.
switch (_sitl->wind_type) {
case SITL::SIM::WIND_TYPE_SQRT:
if (altitude < _sitl->wind_type_alt) {
wind_speed *= sqrtf(MAX(altitude / _sitl->wind_type_alt, 0));
}
break;
case SITL::SIM::WIND_TYPE_COEF:
wind_speed += (altitude - _sitl->wind_type_alt) * _sitl->wind_type_coef;
break;
case SITL::SIM::WIND_TYPE_NO_LIMIT:
default:
break;
}
// never allow negative wind velocity
wind_speed = MAX(wind_speed, 0);
}
input.wind.speed = wind_speed;
input.wind.direction = wind_direction;
input.wind.turbulence = _sitl?_sitl->wind_turbulance:0;
input.wind.dir_z = wind_dir_z;
for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
if (pwm_output[i] == 0xFFFF) {
input.servos[i] = 0;
} else {
input.servos[i] = pwm_output[i];
}
}
if (_sitl != nullptr) {
// FETtec ESC simulation support. Input signals of 1000-2000
// are positive thrust, 0 to 1000 are negative thrust. Deeper
// changes required to support negative thrust - potentially
// adding a field to input.
if (_sitl != nullptr) {
if (_sitl->fetteconewireesc_sim.enabled()) {
_sitl->fetteconewireesc_sim.update_sitl_input_pwm(input);
for (uint8_t i=0; i<ARRAY_SIZE(input.servos); i++) {
if (input.servos[i] != 0 && input.servos[i] < 1000) {
AP_HAL::panic("Bad input servo value (%u)", input.servos[i]);
}
}
}
}
}
float engine_mul = _sitl?_sitl->engine_mul.get():1;
uint8_t engine_fail = _sitl?_sitl->engine_fail.get():0;
float throttle = 0.0f;
if (engine_fail >= ARRAY_SIZE(input.servos)) {
engine_fail = 0;
}
// apply engine multiplier to motor defined by the SIM_ENGINE_FAIL parameter
if (_vehicle != Rover) {
input.servos[engine_fail] = ((input.servos[engine_fail]-1000) * engine_mul) + 1000;
} else {
input.servos[engine_fail] = static_cast<uint16_t>(((input.servos[engine_fail] - 1500) * engine_mul) + 1500);
}
if (_vehicle == ArduPlane) {
float forward_throttle = constrain_float((input.servos[2] - 1000) / 1000.0f, 0.0f, 1.0f);
// do a little quadplane dance
float hover_throttle = 0.0f;
uint8_t running_motors = 0;
for (uint8_t i=0; i < sitl_model->get_num_motors() - 1; i++) {
float motor_throttle = constrain_float((input.servos[sitl_model->get_motors_offset() + i] - 1000) / 1000.0f, 0.0f, 1.0f);
// update motor_on flag
if (!is_zero(motor_throttle)) {
hover_throttle += motor_throttle;
running_motors++;
}
}
if (running_motors > 0) {
hover_throttle /= running_motors;
}
if (!is_zero(forward_throttle)) {
throttle = forward_throttle;
} else {
throttle = hover_throttle;
}
} else if (_vehicle == Rover) {
input.servos[2] = static_cast<uint16_t>(constrain_int16(input.servos[2], 1000, 2000));
input.servos[0] = static_cast<uint16_t>(constrain_int16(input.servos[0], 1000, 2000));
throttle = fabsf((input.servos[2] - 1500) / 500.0f);
} else {
// run checks on each motor
uint8_t running_motors = 0;
for (uint8_t i=0; i < sitl_model->get_num_motors(); i++) {
float motor_throttle = constrain_float((input.servos[i] - 1000) / 1000.0f, 0.0f, 1.0f);
// update motor_on flag
if (!is_zero(motor_throttle)) {
throttle += motor_throttle;
running_motors++;
}
}
if (running_motors > 0) {
throttle /= running_motors;
}
}
if (_sitl) {
_sitl->throttle = throttle;
}
float voltage = 0;
_current = 0;
if (_sitl != nullptr) {
if (_sitl->state.battery_voltage <= 0) {
if (_vehicle == ArduSub) {
voltage = _sitl->batt_voltage;
for (uint8_t i=0; i<6; i++) {
float pwm = input.servos[i];
//printf("i: %d, pwm: %.2f\n", i, pwm);
float fraction = fabsf((pwm - 1500) / 500.0f);
voltage -= fraction * 0.5f;
float draw = fraction * 15;
_current += draw;
}
} else {
// simulate simple battery setup
// lose 0.7V at full throttle
voltage = _sitl->batt_voltage - 0.7f * throttle;
// assume 50A at full throttle
_current = 50.0f * throttle;
}
} else {
// FDM provides voltage and current
voltage = _sitl->state.battery_voltage;
_current = _sitl->state.battery_current;
}
}
// assume 3DR power brick
voltage_pin_value = ((voltage / 10.1f) / 5.0f) * 1024;
current_pin_value = ((_current / 17.0f) / 5.0f) * 1024;
// fake battery2 as just a 25% gain on the first one
voltage2_pin_value = ((voltage * 0.25f / 10.1f) / 5.0f) * 1024;
current2_pin_value = ((_current * 0.25f / 17.0f) / 5.0f) * 1024;
}
void SITL_State::init(int argc, char * const argv[])
{
pwm_input[0] = pwm_input[1] = pwm_input[3] = 1500;
pwm_input[4] = pwm_input[7] = 1800;
pwm_input[2] = pwm_input[5] = pwm_input[6] = 1000;
_scheduler = Scheduler::from(hal.scheduler);
_parse_command_line(argc, argv);
}
/*
set height above the ground in meters
*/
void SITL_State::set_height_agl(void)
{
static float home_alt = -1;
if (!_sitl) {
// in example program
return;
}
if (is_equal(home_alt, -1.0f) && _sitl->state.altitude > 0) {
// remember home altitude as first non-zero altitude
home_alt = _sitl->state.altitude;
}
#if AP_TERRAIN_AVAILABLE
if (_sitl != nullptr &&
_sitl->terrain_enable) {
// get height above terrain from AP_Terrain. This assumes
// AP_Terrain is working
float terrain_height_amsl;
struct Location location;
location.lat = _sitl->state.latitude*1.0e7;
location.lng = _sitl->state.longitude*1.0e7;
AP_Terrain *_terrain = AP_Terrain::get_singleton();
if (_terrain != nullptr &&
_terrain->height_amsl(location, terrain_height_amsl, false)) {
_sitl->height_agl = _sitl->state.altitude - terrain_height_amsl;
return;
}
}
#endif
if (_sitl != nullptr) {
// fall back to flat earth model
_sitl->height_agl = _sitl->state.altitude - home_alt;
}
}
#endif
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