ardupilot/libraries/SITL/SIM_Aircraft.h

340 lines
9.8 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
parent class for aircraft simulators
*/
#pragma once
#include <AP_Math/AP_Math.h>
#include "SITL.h"
#include "SITL_Input.h"
#include "SIM_Sprayer.h"
#include "SIM_Gripper_Servo.h"
#include "SIM_Gripper_EPM.h"
#include "SIM_Parachute.h"
#include "SIM_Precland.h"
#include "SIM_RichenPower.h"
#include "SIM_I2C.h"
#include "SIM_Buzzer.h"
#include "SIM_Battery.h"
#include <Filter/Filter.h>
#include "SIM_JSON_Master.h"
namespace SITL {
/*
parent class for all simulator types
*/
class Aircraft {
public:
Aircraft(const char *frame_str);
// called directly after constructor:
virtual void set_start_location(const Location &start_loc, const float start_yaw);
/*
set simulation speedup
*/
void set_speedup(float speedup);
float get_speedup() const { return target_speedup; }
/*
set instance number
*/
void set_instance(uint8_t _instance) {
instance = _instance;
}
/*
set directory for additional files such as aircraft models
*/
void set_autotest_dir(const char *_autotest_dir) {
autotest_dir = _autotest_dir;
}
/* Create and set in/out socket for extenal simulator */
virtual void set_interface_ports(const char* address, const int port_in, const int port_out) {};
/*
step the FDM by one time step
*/
virtual void update(const struct sitl_input &input) = 0;
void update_model(const struct sitl_input &input);
/* fill a sitl_fdm structure from the simulator state */
void fill_fdm(struct sitl_fdm &fdm);
/* smooth sensors to provide kinematic consistancy */
void smooth_sensors(void);
/* return normal distribution random numbers */
static double rand_normal(double mean, double stddev);
// get frame rate of model in Hz
float get_rate_hz(void) const { return rate_hz; }
// get number of motors for model
uint16_t get_num_motors() const {
return num_motors;
}
// get motor offset for model
virtual uint16_t get_motors_offset() const {
return 0;
}
const Vector3f &get_gyro(void) const {
return gyro;
}
const Vector3f &get_velocity_ef(void) const {
return velocity_ef;
}
const Vector3f &get_velocity_air_ef(void) const {
return velocity_air_ef;
}
const Matrix3f &get_dcm(void) const {
return dcm;
}
const Vector3f &get_mag_field_bf(void) const {
return mag_bf;
}
float gross_mass() const { return mass + external_payload_mass; }
virtual void set_config(const char* config) {
config_ = config;
}
const Location &get_location() const { return location; }
// get position relative to home
Vector3d get_position_relhome() const;
// distance the rangefinder is perceiving
float rangefinder_range() const;
void get_attitude(Quaternion &attitude) const {
attitude.from_rotation_matrix(dcm);
}
const Location &get_home() const { return home; }
float get_home_yaw() const { return home_yaw; }
void set_buzzer(Buzzer *_buzzer) { buzzer = _buzzer; }
void set_sprayer(Sprayer *_sprayer) { sprayer = _sprayer; }
void set_parachute(Parachute *_parachute) { parachute = _parachute; }
void set_richenpower(RichenPower *_richenpower) { richenpower = _richenpower; }
void set_ie24(IntelligentEnergy24 *_ie24) { ie24 = _ie24; }
void set_gripper_servo(Gripper_Servo *_gripper) { gripper = _gripper; }
void set_gripper_epm(Gripper_EPM *_gripper_epm) { gripper_epm = _gripper_epm; }
void set_precland(SIM_Precland *_precland);
void set_i2c(class I2C *_i2c) { i2c = _i2c; }
float get_battery_voltage() const { return battery_voltage; }
protected:
SITL *sitl;
// origin of position vector
Location origin;
// home location
Location home;
bool home_is_set;
Location location;
float ground_level;
float home_yaw;
float frame_height;
Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
Vector3f gyro; // rad/s
Vector3f velocity_ef; // m/s, earth frame
Vector3f wind_ef; // m/s, earth frame
Vector3f velocity_air_ef; // velocity relative to airmass, earth frame
Vector3f velocity_air_bf; // velocity relative to airmass, body frame
Vector3d position; // meters, NED from origin
float mass; // kg
float external_payload_mass; // kg
Vector3f accel_body{0.0f, 0.0f, -GRAVITY_MSS}; // m/s/s NED, body frame
float airspeed; // m/s, apparent airspeed
float airspeed_pitot; // m/s, apparent airspeed, as seen by fwd pitot tube
float battery_voltage = -1.0f;
float battery_current;
float local_ground_level; // ground level at local position
bool lock_step_scheduled;
uint32_t last_one_hz_ms;
// battery model
Battery battery;
uint8_t num_motors = 1;
uint8_t vtol_motor_start;
float rpm[12];
uint8_t rcin_chan_count;
float rcin[12];
float range = -1.0f; // externally supplied rangefinder value, assumed to have been corrected for vehicle attitude
struct {
// data from simulated laser scanner, if available
struct vector3f_array points;
struct float_array ranges;
} scanner;
// Rangefinder
float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
// Windvane apparent wind
struct {
float speed;
float direction;
} wind_vane_apparent;
// Wind Turbulence simulated Data
float turbulence_azimuth;
float turbulence_horizontal_speed; // m/s
float turbulence_vertical_speed; // m/s
Vector3f mag_bf; // local earth magnetic field vector in Gauss, earth frame
uint64_t time_now_us;
const float gyro_noise = radians(0.1f);
const float accel_noise = 0.3f;
float rate_hz = 1200.0f;
float target_speedup;
uint64_t frame_time_us;
uint64_t last_wall_time_us;
uint32_t last_fps_report_ms;
int64_t sleep_debt_us;
uint32_t last_frame_count;
uint8_t instance;
const char *autotest_dir;
const char *frame;
bool use_time_sync = true;
float last_speedup = -1.0f;
const char *config_ = "";
// allow for AHRS_ORIENTATION
AP_Int8 *ahrs_orientation;
enum Rotation last_imu_rotation;
AP_Float* custom_roll;
AP_Float* custom_pitch;
AP_Float* custom_yaw;
enum GroundBehaviour {
GROUND_BEHAVIOR_NONE = 0,
GROUND_BEHAVIOR_NO_MOVEMENT,
GROUND_BEHAVIOR_FWD_ONLY,
GROUND_BEHAVIOR_TAILSITTER,
} ground_behavior;
bool use_smoothing;
float ground_height_difference() const;
virtual bool on_ground() const;
// returns height above ground level in metres
float hagl() const; // metres
/* update location from position */
void update_position(void);
/* update body frame magnetic field */
void update_mag_field_bf(void);
/* advance time by deltat in seconds */
void time_advance();
/* setup the frame step time */
void setup_frame_time(float rate, float speedup);
/* adjust frame_time calculation */
void adjust_frame_time(float rate);
/* try to synchronise simulation time with wall clock time, taking
into account desired speedup */
void sync_frame_time(void);
/* add noise based on throttle level (from 0..1) */
void add_noise(float throttle);
/* return a monotonic wall clock time in microseconds */
uint64_t get_wall_time_us(void) const;
// update attitude and relative position
void update_dynamics(const Vector3f &rot_accel);
// update wind vector
void update_wind(const struct sitl_input &input);
// return filtered servo input as -1 to 1 range
float filtered_idx(float v, uint8_t idx);
float filtered_servo_angle(const struct sitl_input &input, uint8_t idx);
float filtered_servo_range(const struct sitl_input &input, uint8_t idx);
// extrapolate sensors by a given delta time in seconds
void extrapolate_sensors(float delta_time);
// update external payload/sensor dynamic
void update_external_payload(const struct sitl_input &input);
void add_shove_forces(Vector3f &rot_accel, Vector3f &body_accel);
void add_twist_forces(Vector3f &rot_accel);
// get local thermal updraft
float get_local_updraft(const Vector3d &currentPos);
private:
uint64_t last_time_us;
uint32_t frame_counter;
uint32_t last_ground_contact_ms;
#if defined(__CYGWIN__) || defined(__CYGWIN64__)
const uint32_t min_sleep_time{20000};
#else
const uint32_t min_sleep_time{5000};
#endif
struct {
Vector3f accel_body;
Vector3f gyro;
Matrix3f rotation_b2e;
Vector3d position;
Vector3f velocity_ef;
uint64_t last_update_us;
Location location;
} smoothing;
LowPassFilterFloat servo_filter[5];
Buzzer *buzzer;
Sprayer *sprayer;
Gripper_Servo *gripper;
Gripper_EPM *gripper_epm;
Parachute *parachute;
RichenPower *richenpower;
IntelligentEnergy24 *ie24;
SIM_Precland *precland;
class I2C *i2c;
};
} // namespace SITL