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kamilritz 2019-12-16 08:28:36 +01:00 committed by Mathieu Bresciani
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test/sensor_simulator/sensor_simulator.h Normal file
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/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* This class is providing methods to feed the ECL EKF with measurement.
* It takes a pointer to the Ekf object and will manipulate the object
* by call set*Data functions.
* It simulates the time to allow for sensor data being set at certain rate
* and also calls the update method of the EKF
* @author Kamil Ritz <ka.ritz@hotmail.com>
*/
#pragma once
#include "imu.h"
#include "mag.h"
#include "baro.h"
#include "gps.h"
#include "EKF/ekf.h"
class SensorSimulator
{
public:
SensorSimulator(Ekf* ekf);
~SensorSimulator();
void setImuRate(uint32_t rate){ _imu.setRate(rate); }
void setMagRate(uint32_t rate){ _mag.setRate(rate); }
void setBaroRate(uint32_t rate){ _baro.setRate(rate); }
void setGpsRate(uint32_t rate){ _gps.setRate(rate); }
void run(uint32_t duration);
void startGps(){ _gps.start(); }
void stopGps(){ _gps.stop(); }
void setImuBias(Vector3f accel_bias, Vector3f gyro_bias);
private:
Ekf* _ekf;
Imu _imu;
Mag _mag;
Baro _baro;
Gps _gps;
uint32_t _time {0}; // in microseconds
gps_message getDefaultGpsData();
};