diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt index af52383c3c..77219e5f18 100644 --- a/src/modules/simulator/CMakeLists.txt +++ b/src/modules/simulator/CMakeLists.txt @@ -72,3 +72,4 @@ px4_add_module( target_include_directories(modules__simulator INTERFACE ${CMAKE_BINARY_DIR}/mavlink) add_subdirectory(battery_simulator) +add_subdirectory(sensor_mag_sim) diff --git a/src/modules/simulator/sensor_mag_sim/CMakeLists.txt b/src/modules/simulator/sensor_mag_sim/CMakeLists.txt new file mode 100644 index 0000000000..f22e9ffea9 --- /dev/null +++ b/src/modules/simulator/sensor_mag_sim/CMakeLists.txt @@ -0,0 +1,45 @@ +############################################################################ +# +# 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. +# +############################################################################ + +px4_add_module( + MODULE modules__simulator__sensor_mag_sim + MAIN sensor_mag_sim + COMPILE_FLAGS + SRCS + SensorMagSim.cpp + SensorMagSim.hpp + DEPENDS + drivers_magnetometer + geo + px4_work_queue + ) diff --git a/src/modules/simulator/sensor_mag_sim/SensorMagSim.cpp b/src/modules/simulator/sensor_mag_sim/SensorMagSim.cpp new file mode 100644 index 0000000000..6c90a6e360 --- /dev/null +++ b/src/modules/simulator/sensor_mag_sim/SensorMagSim.cpp @@ -0,0 +1,195 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#include "SensorMagSim.hpp" + +#include +#include + +using namespace matrix; + +SensorMagSim::SensorMagSim() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) +{ + _px4_mag.set_device_type(DRV_MAG_DEVTYPE_MAGSIM); + _px4_mag.set_external(false); +} + +SensorMagSim::~SensorMagSim() +{ + perf_free(_loop_perf); +} + +bool SensorMagSim::init() +{ + ScheduleOnInterval(20_ms); // 50 Hz + return true; +} + +float SensorMagSim::generate_wgn() +{ + // generate white Gaussian noise sample with std=1 + + // algorithm 1: + // float temp=((float)(rand()+1))/(((float)RAND_MAX+1.0f)); + // return sqrtf(-2.0f*logf(temp))*cosf(2.0f*M_PI_F*rand()/RAND_MAX); + // algorithm 2: from BlockRandGauss.hpp + static float V1, V2, S; + static bool phase = true; + float X; + + if (phase) { + do { + float U1 = (float)rand() / RAND_MAX; + float U2 = (float)rand() / RAND_MAX; + V1 = 2.0f * U1 - 1.0f; + V2 = 2.0f * U2 - 1.0f; + S = V1 * V1 + V2 * V2; + } while (S >= 1.0f || fabsf(S) < 1e-8f); + + X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S)); + + } else { + X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S)); + } + + phase = !phase; + return X; +} + +void SensorMagSim::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; + } + + perf_begin(_loop_perf); + + // Check if parameters have changed + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + updateParams(); + } + + if (_vehicle_global_position_sub.updated()) { + vehicle_global_position_s gpos; + + if (_vehicle_global_position_sub.copy(&gpos)) { + if (gpos.eph < 1000) { + + // magnetic field data returned by the geo library using the current GPS position + const float mag_declination_gps = get_mag_declination_radians(gpos.lat, gpos.lon); + const float mag_inclination_gps = get_mag_inclination_radians(gpos.lat, gpos.lon); + const float mag_strength_gps = get_mag_strength_gauss(gpos.lat, gpos.lon); + + _mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0); + + _mag_earth_available = true; + } + } + } + + if (_mag_earth_available) { + vehicle_attitude_s attitude; + + if (_vehicle_attitude_sub.update(&attitude)) { + Vector3f expected_field = Dcmf{Quatf{attitude.q}} .transpose() * _mag_earth_pred; + + expected_field += noiseGauss3f(0.02f, 0.02f, 0.03f); + + _px4_mag.update(attitude.timestamp, + expected_field(0) + _sim_mag_offset_x.get(), + expected_field(1) + _sim_mag_offset_y.get(), + expected_field(2) + _sim_mag_offset_z.get()); + } + } +} + +int SensorMagSim::task_spawn(int argc, char *argv[]) +{ + SensorMagSim *instance = new SensorMagSim(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int SensorMagSim::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int SensorMagSim::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("sensor_mag_sim", "system"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int sensor_mag_sim_main(int argc, char *argv[]) +{ + return SensorMagSim::main(argc, argv); +} diff --git a/src/modules/simulator/sensor_mag_sim/SensorMagSim.hpp b/src/modules/simulator/sensor_mag_sim/SensorMagSim.hpp new file mode 100644 index 0000000000..7ee92ad750 --- /dev/null +++ b/src/modules/simulator/sensor_mag_sim/SensorMagSim.hpp @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class SensorMagSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + SensorMagSim(); + ~SensorMagSim() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + +private: + void Run() override; + + // generate white Gaussian noise sample with std=1 + static float generate_wgn(); + + // generate white Gaussian noise sample as a 3D vector with specified std + matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz) { return matrix::Vector3f(generate_wgn() * stdx, generate_wgn() * stdy, generate_wgn() * stdz); } + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude_groundtruth)}; + uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)}; + + PX4Magnetometer _px4_mag{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION + + bool _mag_earth_available{false}; + + matrix::Vector3f _mag_earth_pred{}; + + perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; + + DEFINE_PARAMETERS( + (ParamFloat) _sim_mag_offset_x, + (ParamFloat) _sim_mag_offset_y, + (ParamFloat) _sim_mag_offset_z + ) +}; diff --git a/src/modules/simulator/sensor_mag_sim/parameters.c b/src/modules/simulator/sensor_mag_sim/parameters.c new file mode 100644 index 0000000000..f61bff443f --- /dev/null +++ b/src/modules/simulator/sensor_mag_sim/parameters.c @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * simulated magnetometer X offset + * + * @unit gauss + * @group Simulator + */ +PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_X, 0.0f); + +/** + * simulated magnetometer Y offset + * + * @unit gauss + * @group Simulator + */ +PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Y, 0.0f); + +/** + * simulated magnetometer Z offset + * + * @unit gauss + * @group Simulator + */ +PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Z, 0.0f);