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simulator: break out standalone battery simulator module

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- this is a small step towards unifying SITL & HITL
This commit is contained in:
Daniel Agar
2020-06-24 10:39:21 -04:00
committed by GitHub
parent ae4ed87a31
commit 55808ed2f9
14 changed files with 378 additions and 91 deletions
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src/modules/simulator/simulator.h
-30
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@@ -42,7 +42,6 @@
#pragma once
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_range_finder.h>
@@ -59,7 +58,6 @@
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_timestamps.h>
@@ -79,7 +77,6 @@
#include <v2.0/common/mavlink.h>
#include <v2.0/mavlink_types.h>
#include <lib/battery/battery.h>
using namespace time_literals;
@@ -168,7 +165,6 @@ private:
perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, MODULE_NAME": network interval")};
// uORB publisher handlers
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::PublicationMulti<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
@@ -188,31 +184,7 @@ private:
hrt_abstime _last_sim_timestamp{0};
hrt_abstime _last_sitl_timestamp{0};
hrt_abstime _last_battery_timestamp{0};
class SimulatorBattery : public Battery
{
public:
static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ = 100; // Hz
static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_INTERVAL_US = 1_s / SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ;
SimulatorBattery() : Battery(1, nullptr, SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {}
virtual void updateParams() override
{
Battery::updateParams();
_params.v_empty = 3.5f;
_params.v_charged = 4.05f;
_params.n_cells = 4;
_params.capacity = 10.0f;
_params.v_load_drop = 0.0f;
_params.r_internal = 0.0f;
_params.low_thr = 0.15f;
_params.crit_thr = 0.07f;
_params.emergen_thr = 0.05f;
_params.source = 0;
}
} _battery;
void run();
void handle_message(const mavlink_message_t *msg);
@@ -276,8 +248,6 @@ private:
#endif
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _param_bat_min_pct, //< minimum battery percentage
(ParamBool<px4::params::SIM_GPS_BLOCK>) _param_sim_gps_block,
(ParamBool<px4::params::SIM_ACCEL_BLOCK>) _param_sim_accel_block,
(ParamBool<px4::params::SIM_GYRO_BLOCK>) _param_sim_gyro_block,