mirror of https://github.com/ArduPilot/ardupilot
90 lines
3.3 KiB
C++
90 lines
3.3 KiB
C++
/*
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* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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#include <AP_Math/AP_Math.h>
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namespace SITL {
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/**
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* Simulation model to simulate calibration of accelerometers and compasses.
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*
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* The vehicle rotation can be controlled by sending PWM values to the servos
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* input, denoted by PWM[i] for the i-th channel (starting by zero). All PWM
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* values must be in [1000, 2000], otherwise that will cause undefined
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* behavior.
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*
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* There are four control modes, that are set with PWM[4]:
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*
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* 1) Stop (1000 <= PWM[4] < 1100):
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* Stop the vehicle, i.e., stop the actuation of the other modes.
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*
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* 2) Attitude (1100 <= PWM[4] < 1200):
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* Rotate the vehicle to the specified attitude. The attitude is defined
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* with the PWM channels 5, 6 and 7 for roll, pitch and yaw angles,
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* respectively. The PWM value for a desired angle in radians is given by:
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*
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* pwm(theta) = 1500 + 500 * round(theta / pi)
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* where -pi <= theta <= pi
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*
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* 3) Simple autonomous compass calibration (1200 <= PWM[4] < 1300):
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* Move continuously the vehicle through six calibration poses and do a
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* rotation about each pose over a short period of time.
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*
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* 4) Angular Velocity (1300 <= PWM[4] <= 2000):
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* Rotate the vehicle at a desired angular velocity. The angular velocity is
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* specified by a rotation axis and an angular speed.
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*
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* The x, y and z components of the rotation axis is given, respectively, by
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* the PWM channels 5, 6 and 7 with an offset of 1500. The rotation axis is
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* normalized internally, so that PWM[5,6,7] = [1600, 1300, 0] and
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* PWM[5,6,7] = [1700, 1100, 0] means the same normalized rotation axis.
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*
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* The angular speed value is specified by PWM[4]. The PWM value for a
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* desired angular speed in radians/s is given by:
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*
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* pwm(theta) = 1300 + 700 * round(theta / (2 * pi)),
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* where 0 <= theta <= 2 * pi
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*/
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class Calibration : public Aircraft {
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public:
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Calibration(const char *home_str, const char *frame_str);
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void update(const struct sitl_input &input);
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new Calibration(home_str, frame_str);
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}
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private:
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void _stop_control(const struct sitl_input &input, Vector3f& rot_accel);
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void _attitude_set(float desired_roll, float desired_pitch, float desired_yaw,
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Vector3f& rot_accel);
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void _attitude_control(const struct sitl_input &input,
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Vector3f& rot_accel);
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void _angular_velocity_control(const struct sitl_input &input,
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Vector3f& rot_accel);
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void _calibration_poses(Vector3f& rot_accel);
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};
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}
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