ardupilot/libraries/SITL/SITL.cpp

140 lines
5.0 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
/*
SITL.cpp - software in the loop state
*/
#include <AP_Common.h>
#include <AP_HAL.h>
#include <GCS_MAVLink.h>
#include <SITL.h>
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise, 3),
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 30),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 3),
AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise, 10),
AP_GROUPINFO("GPS_DISABLE",4, SITL, gps_disable, 0),
AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed, 0.2),
AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),
AP_GROUPINFO("GPS_DELAY", 7, SITL, gps_delay, 2),
AP_GROUPINFO("ENGINE_MUL", 8, SITL, engine_mul, 1),
AP_GROUPINFO("WIND_SPD", 9, SITL, wind_speed, 0),
AP_GROUPINFO("WIND_DIR", 10, SITL, wind_direction, 180),
AP_GROUPINFO("WIND_TURB", 11, SITL, wind_turbulance, 0.2),
AP_GROUPINFO("GPS_TYPE", 12, SITL, gps_type, SITL::GPS_TYPE_UBLOX),
AP_GROUPINFO("GPS_BYTELOSS", 13, SITL, gps_byteloss, 0),
AP_GROUPINFO("GPS_NUMSATS", 14, SITL, gps_numsats, 10),
AP_GROUPINFO("MAG_ERROR", 15, SITL, mag_error, 0),
AP_GROUPINFO("SERVO_RATE", 16, SITL, servo_rate, 0),
AP_GROUPINFO("GPS_GLITCH", 17, SITL, gps_glitch, 0),
AP_GROUPINFO("GPS_HZ", 18, SITL, gps_hertz, 5),
AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6),
AP_GROUPINFO("ASPD_RND", 20, SITL, aspd_noise, 0.5),
AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift, 0),
AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0),
AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0),
AP_GROUPINFO("RC_FAIL", 25, SITL, rc_fail, 0),
AP_GROUPEND
};
/* report SITL state via MAVLink */
void SITL::simstate_send(mavlink_channel_t chan)
{
double p, q, r;
float yaw;
// we want the gyro values to be directly comparable to the
// raw_imu message, which is in body frame
convert_body_frame(state.rollDeg, state.pitchDeg,
state.rollRate, state.pitchRate, state.yawRate,
&p, &q, &r);
// convert to same conventions as DCM
yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
mavlink_msg_simstate_send(chan,
ToRad(state.rollDeg),
ToRad(state.pitchDeg),
ToRad(yaw),
state.xAccel,
state.yAccel,
state.zAccel,
p, q, r,
state.latitude*1.0e7,
state.longitude*1.0e7);
}
/* report SITL state to DataFlash */
void SITL::Log_Write_SIMSTATE(DataFlash_Class &DataFlash)
{
double p, q, r;
float yaw;
// we want the gyro values to be directly comparable to the
// raw_imu message, which is in body frame
convert_body_frame(state.rollDeg, state.pitchDeg,
state.rollRate, state.pitchRate, state.yawRate,
&p, &q, &r);
// convert to same conventions as DCM
yaw = state.yawDeg;
if (yaw > 180) {
yaw -= 360;
}
struct log_AHRS pkt = {
LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG),
time_ms : hal.scheduler->millis(),
roll : (int16_t)(state.rollDeg*100),
pitch : (int16_t)(state.pitchDeg*100),
yaw : (uint16_t)(wrap_360_cd(yaw*100)),
alt : (float)state.altitude,
lat : (int32_t)(state.latitude*1.0e7),
lng : (int32_t)(state.longitude*1.0e7)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// convert a set of roll rates from earth frame to body frame
void SITL::convert_body_frame(double rollDeg, double pitchDeg,
double rollRate, double pitchRate, double yawRate,
double *p, double *q, double *r)
{
double phi, theta, phiDot, thetaDot, psiDot;
phi = ToRad(rollDeg);
theta = ToRad(pitchDeg);
phiDot = ToRad(rollRate);
thetaDot = ToRad(pitchRate);
psiDot = ToRad(yawRate);
*p = phiDot - psiDot*sinf(theta);
*q = cosf(phi)*thetaDot + sinf(phi)*psiDot*cosf(theta);
*r = cosf(phi)*psiDot*cosf(theta) - sinf(phi)*thetaDot;
}