Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_Beacon_SITL.h"
      17             : 
      18             : #if AP_BEACON_SITL_ENABLED
      19             : 
      20             : #include <AP_HAL/AP_HAL.h>
      21             : 
      22             : #include <stdio.h>
      23             : 
      24             : extern const AP_HAL::HAL& hal;
      25             : 
      26             : #define NUM_BEACONS 4
      27             : /*
      28             :  *  Define a rectangular pattern of beacons with the pattern centroid located at the beacon origin as defined by the following params:
      29             :  *
      30             :  * BCN_ALT - Height above the WGS-84 geoid (m)
      31             :  * BCN_LATITUDE - WGS-84 latitude (deg)
      32             :  * BCN_LONGITUDE - WGS-84 longitude (deg)
      33             :  *
      34             :  * The spacing between beacons in the North/South and East/West directions is defined by the following parameters:
      35             :  */
      36             : #define BEACON_SPACING_NORTH 10.0
      37             : #define BEACON_SPACING_EAST 20.0
      38             : 
      39             : // The centroid of the pattern can be moved using using the following parameters:
      40             : #define ORIGIN_OFFSET_NORTH 2.5 // shifts beacon pattern centroid North (m)
      41             : #define ORIGIN_OFFSET_EAST 5.0 // shifts beacon pattern centroid East (m)
      42             : 
      43             : // constructor
      44           4 : AP_Beacon_SITL::AP_Beacon_SITL(AP_Beacon &frontend) :
      45             :     AP_Beacon_Backend(frontend),
      46           4 :     sitl(AP::sitl())
      47             : {
      48           4 : }
      49             : 
      50             : // return true if sensor is basically healthy (we are receiving data)
      51        3462 : bool AP_Beacon_SITL::healthy()
      52             : {
      53             :     // healthy if we have parsed a message within the past 300ms
      54        3462 :     return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS);
      55             : }
      56             : 
      57             : // update the state of the sensor
      58      110249 : void AP_Beacon_SITL::update(void)
      59             : {
      60      110249 :     uint32_t now = AP_HAL::millis();
      61      110249 :     if (now - last_update_ms < 10) {
      62       79652 :         return;
      63             :     }
      64             : 
      65       30597 :     uint8_t beacon_id = next_beacon;
      66       30597 :     next_beacon = (next_beacon+1) % NUM_BEACONS;
      67             : 
      68             :     // truth location of the flight vehicle
      69             :     const Location current_loc {
      70       30597 :         int32_t(sitl->state.latitude * 1.0e7f),
      71       30597 :         int32_t(sitl->state.longitude * 1.0e7f),
      72       30597 :         int32_t(sitl->state.altitude * 1.0e2f),
      73             :         Location::AltFrame::ABSOLUTE
      74       30597 :     };
      75             : 
      76             :     // where the beacon system origin is located
      77             :     const Location beacon_origin {
      78       30597 :         int32_t(get_beacon_origin_lat() * 1.0e7f),
      79       61194 :         int32_t(get_beacon_origin_lon() * 1.0e7f),
      80       61194 :         int32_t(get_beacon_origin_alt() * 1.0e2f),
      81             :         Location::AltFrame::ABSOLUTE
      82       30597 :     };
      83             : 
      84             :     // position of each beacon
      85       30597 :     Location beacon_loc = beacon_origin;
      86       30597 :     switch (beacon_id) {
      87        7651 :     case 0:
      88             :         // NE corner
      89        7651 :         beacon_loc.offset(ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
      90        7651 :         break;
      91        7651 :     case 1:
      92             :         // SE corner
      93        7651 :         beacon_loc.offset(ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2);
      94        7651 :         break;
      95        7648 :     case 2:
      96             :         // SW corner
      97        7648 :         beacon_loc.offset(ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
      98        7648 :         break;
      99        7647 :     case 3:
     100             :         // NW corner
     101        7647 :         beacon_loc.offset(ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2);
     102        7647 :         break;
     103             :     }
     104             : 
     105       30597 :     const Vector2f beac_diff = beacon_origin.get_distance_NE(beacon_loc);
     106       30597 :     const Vector2f veh_diff = beacon_origin.get_distance_NE(current_loc);
     107             : 
     108       30597 :     Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (beacon_origin.alt - current_loc.alt)*1.0e-2f);
     109       30597 :     Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_loc.alt - beacon_origin.alt)*1.0e-2f);
     110       30597 :     Vector3f beac_veh_offset = veh_pos3d - beac_pos3d;
     111             : 
     112       30597 :     set_beacon_position(beacon_id, beac_pos3d);
     113       30597 :     set_beacon_distance(beacon_id, beac_veh_offset.length());
     114       30597 :     set_vehicle_position(veh_pos3d, 0.5f);
     115       30597 :     last_update_ms = now;
     116             : }
     117             : 
     118             : #endif // AP_BEACON_SITL_ENABLED