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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-12 20:20:35 +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 +1,45 @@
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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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px4_add_module(
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MODULE modules__simulation__senosr_mag_sim
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MAIN sensor_mag_sim
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COMPILE_FLAGS
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SRCS
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SensorMagSim.cpp
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SensorMagSim.hpp
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DEPENDS
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drivers_magnetometer
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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_MAG_SIM
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bool "sensor_mag_sim"
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default n
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---help---
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Enable support for sensor_mag_sim
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@@ -0,0 +1,196 @@
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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 "SensorMagSim.hpp"
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#include <drivers/drv_sensor.h>
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#include <lib/world_magnetic_model/geo_mag_declination.h>
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using namespace matrix;
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SensorMagSim::SensorMagSim() :
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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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_px4_mag.set_device_type(DRV_MAG_DEVTYPE_MAGSIM);
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}
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SensorMagSim::~SensorMagSim()
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{
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perf_free(_loop_perf);
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}
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bool SensorMagSim::init()
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{
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ScheduleOnInterval(20_ms); // 50 Hz
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return true;
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}
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float SensorMagSim::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 SensorMagSim::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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if (gpos.eph < 1000) {
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// magnetic field data returned by the geo library using the current GPS position
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const float mag_declination_gps = get_mag_declination_radians(gpos.lat, gpos.lon);
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const float mag_inclination_gps = get_mag_inclination_radians(gpos.lat, gpos.lon);
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const float mag_strength_gps = get_mag_strength_gauss(gpos.lat, gpos.lon);
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_mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0);
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_mag_earth_available = true;
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}
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}
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}
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if (_mag_earth_available) {
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vehicle_attitude_s attitude;
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if (_vehicle_attitude_sub.update(&attitude)) {
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Vector3f expected_field = Dcmf{Quatf{attitude.q}} .transpose() * _mag_earth_pred;
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expected_field += noiseGauss3f(0.02f, 0.02f, 0.03f);
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_px4_mag.update(attitude.timestamp,
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expected_field(0) + _sim_mag_offset_x.get(),
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expected_field(1) + _sim_mag_offset_y.get(),
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expected_field(2) + _sim_mag_offset_z.get());
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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 SensorMagSim::task_spawn(int argc, char *argv[])
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{
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SensorMagSim *instance = new SensorMagSim();
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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 SensorMagSim::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 SensorMagSim::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_mag_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_mag_sim_main(int argc, char *argv[])
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{
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return SensorMagSim::main(argc, argv);
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}
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@@ -0,0 +1,94 @@
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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
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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
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* 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/drivers/magnetometer/PX4Magnetometer.hpp>
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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/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/vehicle_attitude.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 SensorMagSim : public ModuleBase<SensorMagSim>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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SensorMagSim();
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~SensorMagSim() 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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// generate white Gaussian noise sample as a 3D vector with specified std
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matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz) { return matrix::Vector3f(generate_wgn() * stdx, generate_wgn() * stdy, generate_wgn() * stdz); }
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude_groundtruth)};
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uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
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PX4Magnetometer _px4_mag{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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bool _mag_earth_available{false};
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matrix::Vector3f _mag_earth_pred{};
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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_MAG_OFFSET_X>) _sim_mag_offset_x,
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(ParamFloat<px4::params::SIM_MAG_OFFSET_Y>) _sim_mag_offset_y,
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(ParamFloat<px4::params::SIM_MAG_OFFSET_Z>) _sim_mag_offset_z
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)
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};
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@@ -0,0 +1,56 @@
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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
|
||||
* 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 magnetometer X offset
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*
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* @unit gauss
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* @group Simulator
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*/
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PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_X, 0.0f);
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/**
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* simulated magnetometer Y offset
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*
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* @unit gauss
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* @group Simulator
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*/
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PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Y, 0.0f);
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/**
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* simulated magnetometer Z offset
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*
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* @unit gauss
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* @group Simulator
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*/
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PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Z, 0.0f);
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