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SIH - change how LAT and LON is used for Takeoff location (#23363)

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change how lat long is used for SIH
This commit is contained in:
Claudio Chies 2024-07-08 14:51:08 +02:00 committed by GitHub
parent 4bc0286eb8
commit aed0fd41cf
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GPG Key ID: B5690EEEBB952194
4 changed files with 16 additions and 15 deletions
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3
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
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@ -15,6 +15,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
if [ -n "${PX4_HOME_LON}" ]; then
param set SIH_LOC_LON0 ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIH_LOC_H0 ${PX4_HOME_ALT}
fi
if simulator_sih start; then

4
src/modules/simulation/simulator_sih/sih.cpp
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@ -243,8 +243,8 @@ void Sih::parameters_updated()
_KDW = _sih_kdw.get();
_H0 = _sih_h0.get();
_LAT0 = (double)_sih_lat0.get() * 1.0e-7;
_LON0 = (double)_sih_lon0.get() * 1.0e-7;
_LAT0 = (double)_sih_lat0.get();
_LON0 = (double)_sih_lon0.get();
_COS_LAT0 = cosl((long double)radians(_LAT0));
_MASS = _sih_mass.get();

4
src/modules/simulation/simulator_sih/sih.hpp
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@ -273,8 +273,8 @@ private:
(ParamFloat<px4::params::SIH_L_PITCH>) _sih_l_pitch,
(ParamFloat<px4::params::SIH_KDV>) _sih_kdv,
(ParamFloat<px4::params::SIH_KDW>) _sih_kdw,
(ParamInt<px4::params::SIH_LOC_LAT0>) _sih_lat0,
(ParamInt<px4::params::SIH_LOC_LON0>) _sih_lon0,
(ParamFloat<px4::params::SIH_LOC_LAT0>) _sih_lat0,
(ParamFloat<px4::params::SIH_LOC_LON0>) _sih_lon0,
(ParamFloat<px4::params::SIH_LOC_H0>) _sih_h0,
(ParamFloat<px4::params::SIH_DISTSNSR_MIN>) _sih_distance_snsr_min,
(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,

20
src/modules/simulation/simulator_sih/sih_params.c
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@ -235,33 +235,31 @@ PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
* Initial geodetic latitude
*
* This value represents the North-South location on Earth where the simulation begins.
* A value of 45 deg should be written 450000000.
*
* LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
* to represent a physical ground location on Earth.
*
* @unit deg*1e7
* @min -850000000
* @max 850000000
* @unit deg
* @min -90
* @max 90
* @group Simulation In Hardware
*/
PARAM_DEFINE_INT32(SIH_LOC_LAT0, 454671160);
PARAM_DEFINE_FLOAT(SIH_LOC_LAT0, 47.397742f);
/**
* Initial geodetic longitude
*
* This value represents the East-West location on Earth where the simulation begins.
* A value of 45 deg should be written 450000000.
*
* LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
* to represent a physical ground location on Earth.
*
* @unit deg*1e7
* @min -1800000000
* @max 1800000000
* @unit deg
* @min -180
* @max 180
* @group Simulation In Hardware
*/
PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370);
PARAM_DEFINE_FLOAT(SIH_LOC_LON0, 8.545594f);
/**
* Initial AMSL ground altitude
@ -282,7 +280,7 @@ PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370);
* @increment 0.01
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f);
PARAM_DEFINE_FLOAT(SIH_LOC_H0, 489.4f);
/**
* distance sensor minimum range