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             :   simulator connector for ardupilot version of CRRCSim
      17             : */
      18             : 
      19             : #include "SIM_config.h"
      20             : 
      21             : #if AP_SIM_CRRCSIM_ENABLED
      22             : 
      23             : #include "SIM_CRRCSim.h"
      24             : 
      25             : #include <stdio.h>
      26             : 
      27             : #include <AP_HAL/AP_HAL.h>
      28             : 
      29             : extern const AP_HAL::HAL& hal;
      30             : 
      31             : namespace SITL {
      32             : 
      33           0 : CRRCSim::CRRCSim(const char *frame_str) :
      34             :     Aircraft(frame_str),
      35           0 :     last_timestamp(0),
      36           0 :     sock(true)
      37             : {
      38             :     // try to bind to a specific port so that if we restart ArduPilot
      39             :     // CRRCSim keeps sending us packets. Not strictly necessary but
      40             :     // useful for debugging
      41           0 :     sock.bind("127.0.0.1", 9003);
      42             : 
      43           0 :     sock.reuseaddress();
      44           0 :     sock.set_blocking(false);
      45           0 :     heli_servos = (strstr(frame_str,"heli") != nullptr);
      46           0 : }
      47             : 
      48             : /*
      49             :   decode and send servos for heli
      50             : */
      51           0 : void CRRCSim::send_servos_heli(const struct sitl_input &input)
      52             : {
      53           0 :     float swash1 = (input.servos[0]-1000) / 1000.0f;
      54           0 :     float swash2 = (input.servos[1]-1000) / 1000.0f;
      55           0 :     float swash3 = (input.servos[2]-1000) / 1000.0f;
      56           0 :     float tail_rotor = (input.servos[3]-1000) / 1000.0f;
      57           0 :     float rsc = (input.servos[7]-1000) / 1000.0f;
      58             : 
      59           0 :     float col_pitch = (swash1+swash2+swash3)/3.0 - 0.5f;
      60           0 :     float roll_rate = (swash1 - swash2)/2;
      61           0 :     float pitch_rate = -((swash1 + swash2)/2.0 - swash3)/2;
      62           0 :     float yaw_rate = -(tail_rotor - 0.5);
      63             : 
      64             :     servo_packet pkt;
      65           0 :     pkt.roll_rate  = constrain_float(roll_rate, -0.5, 0.5);
      66           0 :     pkt.pitch_rate = constrain_float(pitch_rate, -0.5, 0.5);
      67           0 :     pkt.throttle   = constrain_float(rsc, 0, 1);
      68           0 :     pkt.yaw_rate   = constrain_float(yaw_rate, -0.5, 0.5);
      69           0 :     pkt.col_pitch  = constrain_float(col_pitch, -0.5, 0.5);
      70             : 
      71           0 :     sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", 9002);
      72           0 : }
      73             : 
      74             : /*
      75             :   decode and send servos for fixed wing
      76             : */
      77           0 : void CRRCSim::send_servos_fixed_wing(const struct sitl_input &input)
      78             : {
      79           0 :     float roll_rate  = ((input.servos[0]-1000)/1000.0) - 0.5;
      80           0 :     float pitch_rate = ((input.servos[1]-1000)/1000.0) - 0.5;
      81           0 :     float yaw_rate   = ((input.servos[3]-1000)/1000.0) - 0.5;
      82           0 :     float throttle   = ((input.servos[2]-1000)/1000.0);
      83             : 
      84             :     servo_packet pkt;
      85           0 :     pkt.roll_rate  = constrain_float(roll_rate, -0.5, 0.5);
      86           0 :     pkt.pitch_rate = constrain_float(pitch_rate, -0.5, 0.5);
      87           0 :     pkt.throttle   = constrain_float(throttle, 0, 1);
      88           0 :     pkt.yaw_rate   = constrain_float(yaw_rate, -0.5, 0.5);
      89           0 :     pkt.col_pitch  = 0;
      90             : 
      91           0 :     sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", 9002);
      92           0 : }
      93             : 
      94             : /*
      95             :   decode and send servos
      96             : */
      97           0 : void CRRCSim::send_servos(const struct sitl_input &input)
      98             : {
      99           0 :     if (heli_servos) {
     100           0 :         send_servos_heli(input);
     101             :     } else {
     102           0 :         send_servos_fixed_wing(input);
     103             :     }
     104           0 : }
     105             : 
     106             : /*
     107             :   receive an update from the FDM
     108             :   This is a blocking function
     109             :  */
     110           0 : void CRRCSim::recv_fdm(const struct sitl_input &input)
     111             : {
     112             :     fdm_packet pkt;
     113             : 
     114             :     /*
     115             :       we re-send the servo packet every 0.1 seconds until we get a
     116             :       reply. This allows us to cope with some packet loss to the FDM
     117             :      */
     118           0 :     while (sock.recv(&pkt, sizeof(pkt), 100) != sizeof(pkt)) {
     119           0 :         send_servos(input);
     120             :     }
     121             : 
     122           0 :     accel_body = Vector3f(pkt.xAccel, pkt.yAccel, pkt.zAccel);
     123           0 :     gyro = Vector3f(pkt.rollRate, pkt.pitchRate, pkt.yawRate);
     124           0 :     velocity_ef = Vector3f(pkt.speedN, pkt.speedE, pkt.speedD);
     125             : 
     126           0 :     origin.lat = pkt.latitude * 1.0e7;
     127           0 :     origin.lng = pkt.longitude * 1.0e7;
     128           0 :     position.xy().zero();
     129           0 :     position.z = -pkt.altitude;
     130             : 
     131           0 :     airspeed = pkt.airspeed;
     132           0 :     airspeed_pitot = pkt.airspeed;
     133             : 
     134           0 :     dcm.from_euler(pkt.roll, pkt.pitch, pkt.yaw);
     135             : 
     136             :     // auto-adjust to crrcsim frame rate
     137           0 :     double deltat = pkt.timestamp - last_timestamp;
     138           0 :     time_now_us += deltat * 1.0e6;
     139             : 
     140           0 :     if (deltat < 0.01 && deltat > 0) {
     141           0 :         adjust_frame_time(1.0/deltat);
     142             :     }
     143           0 :     last_timestamp = pkt.timestamp;
     144           0 : }
     145             : 
     146             : /*
     147             :   update the CRRCSim simulation by one time step
     148             :  */
     149           0 : void CRRCSim::update(const struct sitl_input &input)
     150             : {
     151           0 :     send_servos(input);
     152           0 :     recv_fdm(input);
     153           0 :     update_battery();
     154           0 :     update_position();
     155           0 :     time_advance();
     156             : 
     157             :     // update magnetic field
     158           0 :     update_mag_field_bf();
     159           0 : }
     160             : 
     161             : } // namespace SITL
     162             : 
     163             : #endif  // AP_SIM_CRRCSIM_ENABLED