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simulator: support accel/gyro instances and stuck failure

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- expand simulator to 3 accels and gyros
 - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
This commit is contained in:
Daniel Agar
2020-10-07 13:20:13 -04:00
committed by GitHub
parent c01fabaf11
commit 378cb155d6
10 changed files with 201 additions and 78 deletions
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src/modules/simulator/simulator.h
+22 -7
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@@ -60,7 +60,6 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
@@ -157,11 +156,19 @@ private:
static Simulator *_instance;
// simulated sensor instances
PX4Accelerometer _px4_accel_0{1311244, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Accelerometer _px4_accel_1{1311500, ROTATION_NONE}; // 1311500: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
static constexpr uint8_t ACCEL_COUNT_MAX = 3;
PX4Accelerometer _px4_accel[ACCEL_COUNT_MAX] {
{1310988, ROTATION_NONE}, // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
{1310996, ROTATION_NONE}, // 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
{1311004, ROTATION_NONE}, // 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
};
PX4Gyroscope _px4_gyro_0{1311244, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro_1{1311500, ROTATION_NONE}; // 1311500: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
static constexpr uint8_t GYRO_COUNT_MAX = 3;
PX4Gyroscope _px4_gyro[GYRO_COUNT_MAX] {
{1310988, ROTATION_NONE}, // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
{1310996, ROTATION_NONE}, // 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
{1311004, ROTATION_NONE}, // 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
};
PX4Magnetometer _px4_mag_0{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Magnetometer _px4_mag_1{197644, ROTATION_NONE}; // 197644: DRV_MAG_DEVTYPE_MAGSIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
@@ -256,12 +263,20 @@ private:
vehicle_status_s _vehicle_status{};
bool _accel_blocked{false};
bool _gyro_blocked{false};
bool _accel_blocked[ACCEL_COUNT_MAX] {};
bool _accel_stuck[ACCEL_COUNT_MAX] {};
matrix::Vector3f _last_accel[GYRO_COUNT_MAX] {};
bool _gyro_blocked[GYRO_COUNT_MAX] {};
bool _gyro_stuck[GYRO_COUNT_MAX] {};
matrix::Vector3f _last_gyro[GYRO_COUNT_MAX] {};
bool _baro_blocked{false};
bool _baro_stuck{false};
bool _mag_blocked{false};
bool _mag_stuck{false};
bool _gps_blocked{false};
bool _airspeed_blocked{false};