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refactor(sih): some suggestions from trying to review

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Honestly I don't understand why there needs to be another reference. I'll need to continue reviewing later since it's not trivial.
This commit is contained in:
Matthias Grob 2026-03-13 14:54:06 +01:00
parent 039af95db8
commit 892f199cb5
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GPG Key ID: 8924BFB060E86D63
2 changed files with 12 additions and 36 deletions
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43
src/modules/simulation/simulator_sih/sih.cpp
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@ -72,7 +72,15 @@ void Sih::run()
_px4_accel.set_temperature(T1_C);
_px4_gyro.set_temperature(T1_C);
init_position_reference();
// Initialize position, velocity and attitude
_lla = LatLonAlt(_sih_lat0.get(), _sih_lon0.get(), _sih_h0.get());
_p_E = _p_E_ref = _lla.toEcef();
_lpos_ref.initReference(_lla.latitude_deg(), _lla.longitude_deg()); // Initialize MapProjection reference
_lpos_ref_alt = _lla.altitude();
_R_E2N_ref = computeRotEcefToNed(_lla); // Reference frame rotation (fixed, used for local position computation)
_R_N2E = _R_E2N_ref.transpose();
_q_E = Quatf(_R_N2E) * _q;
parameters_updated();
const hrt_abstime task_start = hrt_absolute_time();
@ -266,37 +274,6 @@ void Sih::parameters_updated()
_v_wind_N = Vector3f(_sih_wind_n.get(), _sih_wind_e.get(), 0.f);
}
void Sih::init_position_reference()
{
// Reset earth position, velocity and attitude
_lla.setLatitudeDeg(static_cast<double>(_sih_lat0.get()));
_lla.setLongitudeDeg(static_cast<double>(_sih_lon0.get()));
_lla.setAltitude(_sih_h0.get());
_p_E = _lla.toEcef();
// Store ECEF reference position - this is the origin of the local frame
_p_E_ref = _p_E;
// Get canonical LLA from ECEF for reference initialization
_lla = LatLonAlt::fromEcef(_p_E);
// Initialize MapProjection reference (used for reprojection and publishing ref_lat/ref_lon)
_lpos_ref.initReference(_lla.latitude_deg(), _lla.longitude_deg());
_lpos_ref_alt = _lla.altitude();
// Store reference frame rotation (fixed, used for local position computation)
_R_E2N_ref = computeRotEcefToNed(_lla);
// Local position is exactly at origin since p_E == p_E_ref
_lpos.setZero();
_R_N2E = _R_E2N_ref.transpose();
_v_E = _R_N2E * _v_N;
_q_E = Quatf(_R_N2E) * _q;
_q_E.normalize();
}
void Sih::read_motors(const float dt)
{
actuator_outputs_s actuators_out;
@ -403,7 +380,7 @@ void Sih::generate_ts_aerodynamics()
// the aerodynamic is resolved in a frame like a standard aircraft (nose-right-belly)
Vector3f v_ts = _R_S2B.transpose() * v_B;
Vector3f w_ts = _R_S2B.transpose() * _w_B;
// NED convention: _lpos(2) is negative when above reference, so altitude = ref - (-height) = ref + height
// NED frame: _lpos(2) above reference is negative
float altitude = _lpos_ref_alt - _lpos(2);
Vector3f Fa_ts{};

5
src/modules/simulation/simulator_sih/sih.hpp
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@ -122,7 +122,6 @@ public:
private:
void parameters_updated();
void init_position_reference();
// simulated sensors
PX4Accelerometer _px4_accel{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@ -229,8 +228,8 @@ private:
LatLonAlt _lla{};
matrix::Vector3f _lpos{}; // position in a local tangent-plane frame [m]
matrix::Vector3d _p_E_ref{}; // ECEF reference position for local frame origin [m]
matrix::Dcmf _R_E2N_ref{}; // Rotation from ECEF to reference NED frame
matrix::Vector3d _p_E_ref{}; // ECEF reference position for local frame origin [m]
matrix::Dcmf _R_E2N_ref{}; // Rotation from ECEF to reference NED frame
float _u[NUM_ACTUATORS_MAX] {}; // thruster signals