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 Scrimmage simulator
      17             : */
      18             : 
      19             : #include "SIM_config.h"
      20             : 
      21             : #if AP_SIM_SCRIMMAGE_ENABLED
      22             : 
      23             : #include "SIM_Scrimmage.h"
      24             : 
      25             : #include <stdio.h>
      26             : #include <inttypes.h>
      27             : #include <sys/stat.h>
      28             : #include <sys/types.h>
      29             : 
      30             : #include <AP_HAL/AP_HAL.h>
      31             : 
      32             : extern const AP_HAL::HAL& hal;
      33             : 
      34             : namespace SITL {
      35             : 
      36           0 : Scrimmage::Scrimmage(const char *_frame_str) :
      37             :     Aircraft(_frame_str),
      38           0 :     prev_timestamp_us(0),
      39           0 :     recv_sock(true),
      40           0 :     send_sock(true)
      41             : {
      42           0 : }
      43             : 
      44           0 : void Scrimmage::set_interface_ports(const char* address, const int port_in, const int port_out)
      45             : {
      46           0 :     fdm_port_in = port_in;
      47           0 :     fdm_port_out = port_out;
      48           0 :     fdm_address = address;
      49           0 :     printf("ArduPilot sending to scrimmage on %s:%d\n",fdm_address, fdm_port_out);
      50           0 :     printf("ArduPilot listening to scrimmage on %s:%d\n",fdm_address, fdm_port_in);
      51             : 
      52           0 :     recv_sock.bind(fdm_address, fdm_port_in);
      53             : 
      54           0 :     recv_sock.reuseaddress();
      55           0 :     recv_sock.set_blocking(false);
      56             : 
      57           0 :     send_sock.reuseaddress();
      58           0 :     send_sock.set_blocking(false);
      59           0 : }
      60             : 
      61           0 : void Scrimmage::send_servos(const struct sitl_input &input)
      62             : {
      63             :     servo_packet pkt;
      64             : 
      65           0 :     for (int i = 0; i < MAX_NUM_SERVOS; i++) {
      66           0 :         pkt.servos[i] = input.servos[i];
      67             :     }
      68           0 :     send_sock.sendto(&pkt, sizeof(servo_packet), fdm_address, fdm_port_out);
      69           0 : }
      70             : 
      71             : /*
      72             :   receive an update from the FDM
      73             :   This is a blocking function
      74             :  */
      75           0 : void Scrimmage::recv_fdm(const struct sitl_input &input)
      76             : {
      77             :     fdm_packet pkt;
      78             : 
      79             :     // wait for packet from scrimmage
      80           0 :     while (recv_sock.recv(&pkt, sizeof(pkt), 100) != sizeof(pkt));
      81             : 
      82             :     // auto-adjust to simulation frame rate
      83           0 :     uint64_t dt_us = 0;
      84           0 :     if (pkt.timestamp_us > prev_timestamp_us)
      85           0 :         dt_us = pkt.timestamp_us - prev_timestamp_us;
      86           0 :     time_now_us += dt_us;
      87             : 
      88           0 :     float dt_inv = 1.0e6 / ((float)dt_us);
      89           0 :     if ( dt_inv > 100) {
      90           0 :         adjust_frame_time(dt_inv);
      91             :     }
      92           0 :     prev_timestamp_us = pkt.timestamp_us;
      93             : 
      94             :     // dcm_bl: dcm from body to local frame
      95           0 :     dcm.from_euler(pkt.roll, pkt.pitch, pkt.yaw);
      96           0 :     dcm.normalize();
      97             : 
      98             :     // subtract gravity to get specific force measuremnt of the IMU
      99           0 :     accel_body = Vector3f(pkt.xAccel, pkt.yAccel, pkt.zAccel) - dcm.transposed()*Vector3f(0.0f, 0.0f, GRAVITY_MSS);
     100           0 :     gyro = Vector3f(pkt.rollRate, pkt.pitchRate, pkt.yawRate);
     101             : 
     102           0 :     velocity_ef = Vector3f(pkt.speedN, pkt.speedE, pkt.speedD);
     103             : 
     104           0 :     location = {
     105           0 :         int32_t(pkt.latitude * 1.0e7),
     106           0 :         int32_t(pkt.longitude * 1.0e7),
     107           0 :         int32_t(pkt.altitude * 1.0e2),
     108             :         Location::AltFrame::ABSOLUTE
     109             :     };
     110           0 :     UNUSED_RESULT(home.get_height_above(location, position.z));
     111             : 
     112             :     // velocity relative to air mass, in earth frame TODO
     113           0 :     velocity_air_ef = velocity_ef - wind_ef;
     114             : 
     115             :     // velocity relative to airmass in body frame TODO
     116           0 :     velocity_air_bf = dcm.transposed() * velocity_air_ef;
     117             : 
     118           0 :     battery_voltage = 0;
     119           0 :     battery_current = 0;
     120           0 :     battery_temperature_degC = 0;
     121           0 :     rpm[0] = 0;
     122           0 :     rpm[1] = 0;
     123             : 
     124           0 :     airspeed = pkt.airspeed;
     125           0 :     airspeed_pitot = pkt.airspeed;
     126           0 : }
     127             : 
     128             : /*
     129             :   update the Scrimmage simulation by one time step
     130             :  */
     131           0 : void Scrimmage::update(const struct sitl_input &input)
     132             : {
     133           0 :     send_servos(input);
     134           0 :     recv_fdm(input);
     135           0 :     update_mag_field_bf();
     136           0 : }
     137             : 
     138             : } // namespace SITL
     139             : 
     140             : #endif  // AP_SIM_SCRIMMAGE_ENABLED