mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 01:33:34 +08:00
simulation organization and cleanup
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
This commit is contained in:
Daniel Agar
@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE modules__simulation__sensor_baro_sim
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MAIN sensor_baro_sim
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COMPILE_FLAGS
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SRCS
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SensorBaroSim.cpp
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SensorBaroSim.hpp
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DEPENDS
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geo
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig MODULES_SIMULATION_SENSOR_BARO_SIM
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bool "sensor_baro_sim"
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default n
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---help---
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Enable support for sensor_baro_sim
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@@ -0,0 +1,232 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "SensorBaroSim.hpp"
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#include <drivers/drv_sensor.h>
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using namespace matrix;
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SensorBaroSim::SensorBaroSim() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
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{
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srand(1234); // initialize the random seed once before calling generate_wgn()
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}
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SensorBaroSim::~SensorBaroSim()
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{
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perf_free(_loop_perf);
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}
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bool SensorBaroSim::init()
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{
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ScheduleOnInterval(50_ms); // 20 Hz
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return true;
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}
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float SensorBaroSim::generate_wgn()
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{
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// generate white Gaussian noise sample with std=1
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// algorithm 1:
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// float temp=((float)(rand()+1))/(((float)RAND_MAX+1.0f));
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// return sqrtf(-2.0f*logf(temp))*cosf(2.0f*M_PI_F*rand()/RAND_MAX);
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// algorithm 2: from BlockRandGauss.hpp
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static float V1, V2, S;
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static bool phase = true;
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float X;
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if (phase) {
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do {
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float U1 = (float)rand() / (float)RAND_MAX;
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float U2 = (float)rand() / (float)RAND_MAX;
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V1 = 2.0f * U1 - 1.0f;
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V2 = 2.0f * U2 - 1.0f;
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S = V1 * V1 + V2 * V2;
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} while (S >= 1.0f || fabsf(S) < 1e-8f);
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X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));
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} else {
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X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
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}
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phase = !phase;
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return X;
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}
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void SensorBaroSim::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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return;
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}
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perf_begin(_loop_perf);
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// Check if parameters have changed
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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updateParams();
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}
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if (_vehicle_global_position_sub.updated()) {
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vehicle_global_position_s gpos;
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if (_vehicle_global_position_sub.copy(&gpos)) {
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const float dt = math::constrain((gpos.timestamp - _last_update_time) * 1e-6f, 0.001f, 0.1f);
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const float alt_msl = gpos.alt;
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// calculate abs_pressure using an ISA model for the tropsphere (valid up to 11km above MSL)
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const float lapse_rate = 0.0065f; // reduction in temperature with altitude (Kelvin/m)
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const float temperature_msl = 288.0f; // temperature at MSL (Kelvin)
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const float temperature_local = temperature_msl - lapse_rate * alt_msl;
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const float pressure_ratio = powf(temperature_msl / temperature_local, 5.256f);
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const float pressure_msl = 101325.0f; // pressure at MSL
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const float absolute_pressure = pressure_msl / pressure_ratio;
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// generate Gaussian noise sequence using polar form of Box-Muller transformation
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double y1;
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{
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double x1;
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double x2;
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double w;
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if (!_baro_rnd_use_last) {
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do {
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x1 = 2. * (double)generate_wgn() - 1.;
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x2 = 2. * (double)generate_wgn() - 1.;
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w = x1 * x1 + x2 * x2;
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} while (w >= 1.0);
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w = sqrt((-2.0 * log(w)) / w);
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// calculate two values - the second value can be used next time because it is uncorrelated
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y1 = x1 * w;
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_baro_rnd_y2 = x2 * w;
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_baro_rnd_use_last = true;
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} else {
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// no need to repeat the calculation - use the second value from last update
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y1 = _baro_rnd_y2;
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_baro_rnd_use_last = false;
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}
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}
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// Apply noise and drift
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const float abs_pressure_noise = 1.f * (float)y1; // 1 Pa RMS noise
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_baro_drift_pa += _baro_drift_pa_per_sec * dt;
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const float absolute_pressure_noisy = absolute_pressure + abs_pressure_noise + _baro_drift_pa;
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// convert to hPa
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float pressure = absolute_pressure_noisy + _sim_baro_off_p.get();
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// calculate temperature in Celsius
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float temperature = temperature_local - 273.0f + _sim_baro_off_t.get();
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// publish
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sensor_baro_s sensor_baro{};
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sensor_baro.timestamp_sample = gpos.timestamp;
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sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
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sensor_baro.pressure = pressure;
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sensor_baro.temperature = temperature;
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sensor_baro.timestamp = hrt_absolute_time();
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_sensor_baro_pub.publish(sensor_baro);
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_last_update_time = gpos.timestamp;
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}
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}
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perf_end(_loop_perf);
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}
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int SensorBaroSim::task_spawn(int argc, char *argv[])
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{
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SensorBaroSim *instance = new SensorBaroSim();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int SensorBaroSim::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int SensorBaroSim::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("sensor_baro_sim", "system");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int sensor_baro_sim_main(int argc, char *argv[])
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{
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return SensorBaroSim::main(argc, argv);
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}
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@@ -0,0 +1,92 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
|
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*
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||||
* 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
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_baro.h>
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#include <uORB/topics/vehicle_global_position.h>
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using namespace time_literals;
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class SensorBaroSim : public ModuleBase<SensorBaroSim>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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SensorBaroSim();
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~SensorBaroSim() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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// generate white Gaussian noise sample with std=1
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static float generate_wgn();
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
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bool _baro_rnd_use_last{false};
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double _baro_rnd_y2{0.0};
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float _baro_drift_pa_per_sec{0.0};
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float _baro_drift_pa{0.0};
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hrt_abstime _last_update_time{0};
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uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_p,
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(ParamFloat<px4::params::SIM_BARO_OFF_T>) _sim_baro_off_t
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)
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};
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@@ -0,0 +1,47 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 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.
|
||||
*
|
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****************************************************************************/
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/**
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* simulated barometer pressure offset
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*
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* @group Simulator
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*/
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PARAM_DEFINE_FLOAT(SIM_BARO_OFF_P, 0.0f);
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/**
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* simulated barometer temperature offset
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*
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* @group Simulator
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* @unit celcius
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*/
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PARAM_DEFINE_FLOAT(SIM_BARO_OFF_T, 0.0f);
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