From bfe0d71a21e95960f4a82e89890a5b54a75ae0e3 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 23 Aug 2022 16:18:15 -0400 Subject: [PATCH] sih remove baro and use standalone sensor_baro_sim --- .../init.d-posix/px4-rc.simulator | 1 + ROMFS/px4fmu_common/init.d/rcS | 1 + boards/airmind/mindpx-v2/default.px4board | 1 + boards/atl/mantis-edu/default.px4board | 1 + boards/av/x-v1/default.px4board | 1 + boards/beaglebone/blue/default.px4board | 1 + boards/cuav/nora/default.px4board | 1 + boards/cuav/x7pro/default.px4board | 1 + boards/cubepilot/cubeorange/default.px4board | 1 + boards/cubepilot/cubeyellow/default.px4board | 1 + boards/emlid/navio2/default.px4board | 1 + boards/holybro/durandal-v1/default.px4board | 1 + boards/holybro/kakuteh7/default.px4board | 1 + boards/holybro/pix32v5/default.px4board | 1 + boards/modalai/fc-v1/default.px4board | 1 + boards/modalai/fc-v2/default.px4board | 1 + boards/mro/ctrl-zero-classic/default.px4board | 1 + boards/mro/ctrl-zero-f7-oem/default.px4board | 1 + boards/mro/ctrl-zero-f7/default.px4board | 1 + boards/mro/ctrl-zero-h7-oem/default.px4board | 1 + boards/mro/ctrl-zero-h7/default.px4board | 1 + boards/mro/pixracerpro/default.px4board | 3 +-- boards/mro/x21-777/default.px4board | 1 + boards/mro/x21/default.px4board | 1 + boards/nxp/fmuk66-e/default.px4board | 1 + boards/nxp/fmuk66-v3/default.px4board | 1 + boards/px4/fmu-v3/default.px4board | 1 + boards/px4/fmu-v4/default.px4board | 1 + boards/px4/fmu-v4pro/default.px4board | 1 + boards/px4/fmu-v6u/default.px4board | 1 + boards/px4/raspberrypi/default.px4board | 1 + boards/scumaker/pilotpi/default.px4board | 1 + .../smartap-airlink/default.px4board | 1 + boards/uvify/core/default.px4board | 1 + src/modules/simulation/simulator_sih/sih.cpp | 25 +------------------ src/modules/simulation/simulator_sih/sih.hpp | 7 ------ .../simulation/simulator_sih/sih_params.c | 10 -------- 37 files changed, 35 insertions(+), 43 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator index 398fcd106a..5286b8f6bc 100644 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator @@ -8,6 +8,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" if simulator_sih start; then + sensor_baro_sim start sensor_mag_sim start else diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f02623cd8f..968f867aa7 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -344,6 +344,7 @@ else if param compare SYS_HITL 2 then simulator_sih start + sensor_baro_sim start sensor_mag_sim start fi diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index dfbcb1b519..48f43db3ac 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/atl/mantis-edu/default.px4board b/boards/atl/mantis-edu/default.px4board index 4e44f61f5b..41b9a43088 100644 --- a/boards/atl/mantis-edu/default.px4board +++ b/boards/atl/mantis-edu/default.px4board @@ -31,6 +31,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_GIMBAL=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index bea73a60f2..153719032f 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index 0928192c8a..41ad0ff736 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -53,6 +53,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index 54c84a1b93..ce664c05fb 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -75,6 +75,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index 9f0c9727c7..f5fdd0b7b5 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -76,6 +76,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 7824e98753..718dee0c14 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index 7555bf3fff..27827893c1 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 5b20959814..32d971e681 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -55,6 +55,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 4cf0a456f7..94817a6889 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index ce6f19ec03..1a04309f17 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -63,6 +63,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index f8cc41a2b2..66600df02f 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -76,6 +76,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 19e2f28ee0..36226fb163 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -73,6 +73,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 61d283dea4..d7e9dcff82 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index fc0bc86ac9..f89c33ffca 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index e38b404220..ed32b5a09f 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -69,6 +69,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index 7d83b8920c..5925e791c9 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -69,6 +69,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index fc0bc86ac9..f89c33ffca 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 628e986ba8..0292137395 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -69,6 +69,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index 8e5e324eb9..a848b5524c 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -26,10 +26,8 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y @@ -69,6 +67,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index 3be64e7b8f..59d5d2cade 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -70,6 +70,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 024ff7e880..72f2b9eb2f 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index e4283d3c22..f462cb275a 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index b55993dbe8..68fcda7a7b 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -76,6 +76,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index 926e1d4a08..79837435ea 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -74,6 +74,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index 5eea4c80f2..b62880b873 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -74,6 +74,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index d1fb1a7a67..9eb0c40d46 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -72,6 +72,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index 65889ac345..8d6b1231f9 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -70,6 +70,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index a81b36afea..0db3f1a0d9 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -52,6 +52,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index bbcf110297..2ecf9c5dbb 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -52,6 +52,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index 3d87f74392..bd489282d7 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -74,6 +74,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board index 3d56a103bc..7952ef46f3 100644 --- a/boards/uvify/core/default.px4board +++ b/boards/uvify/core/default.px4board @@ -58,6 +58,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index ca3fa9a46b..6ee3c2650b 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -217,22 +217,6 @@ void Sih::sensor_step() reconstruct_sensors_signals(now); - // baro published at 20 Hz - if (now - _baro_time >= 50_ms - && fabs(_baro_offset_m) < 10000) { - _baro_time = now; - - // publish baro - sensor_baro_s sensor_baro{}; - sensor_baro.timestamp_sample = now; - sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION - sensor_baro.pressure = _baro_p_mBar * 100.f; - sensor_baro.temperature = _baro_temp_c; - sensor_baro.error_count = 0; - sensor_baro.timestamp = hrt_absolute_time(); - _sensor_baro_pub.publish(sensor_baro); - } - // gps published at 10Hz if (now - _gps_time >= 100_ms) { _gps_time = now; @@ -283,7 +267,6 @@ void Sih::parameters_updated() _Im1 = 100.0f * inv(static_cast(100.0f * _I)); _gps_used = _sih_gps_used.get(); - _baro_offset_m = _sih_baro_offset.get(); _distance_snsr_min = _sih_distance_snsr_min.get(); _distance_snsr_max = _sih_distance_snsr_max.get(); @@ -470,12 +453,6 @@ void Sih::reconstruct_sensors_signals(const hrt_abstime &time_now_us) _px4_accel.update(time_now_us, acc(0), acc(1), acc(2)); _px4_gyro.update(time_now_us, gyro(0), gyro(1), gyro(2)); - // barometer - float altitude = (_H0 - _p_I(2)) + _baro_offset_m + generate_wgn() * 0.14f; // altitude with noise - _baro_p_mBar = CONSTANTS_STD_PRESSURE_MBAR * // reconstructed pressure in mBar - powf((1.0f + altitude * TEMP_GRADIENT / T1_K), -CONSTANTS_ONE_G / (TEMP_GRADIENT * CONSTANTS_AIR_GAS_CONST)); - _baro_temp_c = T1_K + CONSTANTS_ABSOLUTE_NULL_CELSIUS + TEMP_GRADIENT * altitude; // reconstructed temperture in Celsius - // GPS _gps_lat_noiseless = _LAT0 + degrees((double)_p_I(0) / CONSTANTS_RADIUS_OF_EARTH); _gps_lon_noiseless = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0; @@ -547,7 +524,7 @@ void Sih::send_airspeed(const hrt_abstime &time_now_us) airspeed.timestamp_sample = time_now_us; airspeed.true_airspeed_m_s = fmaxf(0.1f, _v_B(0) + generate_wgn() * 0.2f); airspeed.indicated_airspeed_m_s = airspeed.true_airspeed_m_s * sqrtf(_wing_l.get_rho() / RHO); - airspeed.air_temperature_celsius = _baro_temp_c; + airspeed.air_temperature_celsius = NAN; airspeed.confidence = 0.7f; airspeed.timestamp = hrt_absolute_time(); _airspeed_pub.publish(airspeed); diff --git a/src/modules/simulation/simulator_sih/sih.hpp b/src/modules/simulation/simulator_sih/sih.hpp index 19c98aefb2..1d629c2b71 100644 --- a/src/modules/simulation/simulator_sih/sih.hpp +++ b/src/modules/simulation/simulator_sih/sih.hpp @@ -74,7 +74,6 @@ #include #include #include -#include #include #include #include @@ -121,7 +120,6 @@ private: // simulated sensors PX4Accelerometer _px4_accel{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION PX4Gyroscope _px4_gyro{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION - uORB::PublicationMulti _sensor_baro_pub{ORB_ID(sensor_baro)}; uORB::Publication _sensor_gps_pub{ORB_ID(sensor_gps)}; uORB::Publication _distance_snsr_pub{ORB_ID(distance_sensor)}; uORB::Publication _airspeed_pub{ORB_ID(airspeed)}; @@ -184,7 +182,6 @@ private: hrt_abstime _last_run{0}; hrt_abstime _last_actuator_output_time{0}; - hrt_abstime _baro_time{0}; hrt_abstime _gps_time{0}; hrt_abstime _airspeed_time{0}; hrt_abstime _dist_snsr_time{0}; @@ -259,8 +256,6 @@ private: double _gps_lat, _gps_lat_noiseless; double _gps_lon, _gps_lon_noiseless; float _gps_alt, _gps_alt_noiseless; - float _baro_p_mBar; // reconstructed (simulated) pressure in mBar - float _baro_temp_c; // reconstructed (simulated) barometer temperature in degrees Celsius // parameters float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0, _T_TAU; @@ -270,7 +265,6 @@ private: matrix::Matrix3f _Im1; // inverse of the inertia matrix int _gps_used; - float _baro_offset_m; float _distance_snsr_min, _distance_snsr_max, _distance_snsr_override; // parameters defined in sih_params.c @@ -294,7 +288,6 @@ private: (ParamInt) _sih_lon0, (ParamFloat) _sih_h0, (ParamInt) _sih_gps_used, - (ParamFloat) _sih_baro_offset, (ParamFloat) _sih_distance_snsr_min, (ParamFloat) _sih_distance_snsr_max, (ParamFloat) _sih_distance_snsr_override, diff --git a/src/modules/simulation/simulator_sih/sih_params.c b/src/modules/simulation/simulator_sih/sih_params.c index 6b8f50c48a..0530be31f3 100644 --- a/src/modules/simulation/simulator_sih/sih_params.c +++ b/src/modules/simulation/simulator_sih/sih_params.c @@ -293,16 +293,6 @@ PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f); */ PARAM_DEFINE_INT32(SIH_GPS_USED, 10); -/** - * Barometer offset in meters - * - * Absolute value superior to 10000 will disable barometer - * - * @unit m - * @group Simulation In Hardware - */ -PARAM_DEFINE_FLOAT(SIH_BARO_OFFSET, 0.0f); - /** * distance sensor minimum range *