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simulator in hardware, new module added that allows to run a simulator in the hardware autopilot, for more documentation visit https://github.com/romain-chiap/PX4_SIH_QuadX
This commit is contained in:
romain
Beat Küng
parent
4fe9ac9993
commit
c09e9ec97f
@ -75,6 +75,7 @@ px4_add_board(
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mc_pos_control
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navigator
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sensors
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sih
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vmount
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vtol_att_control
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wind_estimator
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@ -107,6 +107,7 @@ set(msg_files
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sensor_preflight.msg
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sensor_selection.msg
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servorail_status.msg
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sih.msg
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subsystem_info.msg
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system_power.msg
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task_stack_info.msg
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9
msg/sih.msg
Normal file
9
msg/sih.msg
Normal file
@ -0,0 +1,9 @@
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# simulator in Hardware - Romain Chiappinelli - Jan 8, 2019
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uint64 timestamp # time since system start (microseconds)
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uint32 dt_us # simulator sampling time [us]
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float32[3] euler_rpy # euler angles (roll-pitch-yaw) [deg]
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float32[3] omega_b # body rates in body frame [rad/s]
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float32[3] p_i_local # local inertial position [m]
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float32[3] v_i # inertial velocity [m]
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float32[4] u # motor signals [0;1]
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44
src/modules/sih/CMakeLists.txt
Normal file
44
src/modules/sih/CMakeLists.txt
Normal file
@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE modules__sih
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MAIN sih
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STACK_MAIN 1200
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STACK_MAX 3500
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COMPILE_FLAGS
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SRCS
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sih.cpp
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DEPENDS
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mathlib
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)
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632
src/modules/sih/sih.cpp
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632
src/modules/sih/sih.cpp
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@ -0,0 +1,632 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sih.cpp
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* Simulator in Hardware
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*
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* @author Romain Chiappinelli <romain.chiap@gmail.com>
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*
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* Coriolis g Corporation - January 2019
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*/
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#include "sih.hpp"
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#include <px4_getopt.h>
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#include <px4_log.h>
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#include <px4_posix.h>
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#include <drivers/drv_pwm_output.h> // to get PWM flags
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#include <uORB/topics/vehicle_status.h> // to get the HIL status
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#include <unistd.h> //
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#include <string.h> //
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#include <fcntl.h> //
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#include <termios.h> //
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using namespace math;
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int Sih::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Simulator in Hardware
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This module provide a simulator for quadrotors running fully
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inside the hardware autopilot.
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This simulator subscribes to "actuator_outputs" which are the actuator pwm
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signals given by the mixer.
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This simulator publishes the sensors signals corrupted with realistic noise
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in order to incorporate the state estimator in the loop.
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### Implementation
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The simulator implements the equations of motion using matrix algebra.
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Quaternion representation is used for the attitude.
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Forward Euler is used for integration.
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Most of the variables are declared global in the .hpp file to avoid stack overflow.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("sih", "sih");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAM_FLAG('f', "Optional example flag", true);
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PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 4096, "Optional example parameter", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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int Sih::print_status()
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{
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PX4_INFO("Running");
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// TODO: print additional runtime information about the state of the module
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return 0;
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}
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int Sih::custom_command(int argc, char *argv[])
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{
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/*
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if (!is_running()) {
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print_usage("not running");
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return 1;
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}
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// additional custom commands can be handled like this:
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if (!strcmp(argv[0], "do-something")) {
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get_instance()->do_something();
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return 0;
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}
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*/
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return print_usage("unknown command");
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}
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int Sih::task_spawn(int argc, char *argv[])
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{
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_task_id = px4_task_spawn_cmd("sih",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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4096,
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(px4_main_t)&run_trampoline,
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(char *const *)argv);
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if (_task_id < 0) {
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_task_id = -1;
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return -errno;
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}
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return 0;
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}
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Sih *Sih::instantiate(int argc, char *argv[])
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{
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int example_param = 0;
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bool example_flag = false;
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bool error_flag = false;
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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// parse CLI arguments
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while ((ch = px4_getopt(argc, argv, "p:f", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'p':
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example_param = (int)strtol(myoptarg, nullptr, 10);
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break;
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case 'f':
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example_flag = true;
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break;
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case '?':
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error_flag = true;
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break;
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default:
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PX4_WARN("unrecognized flag");
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error_flag = true;
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break;
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}
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}
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if (error_flag) {
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return nullptr;
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}
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Sih *instance = new Sih(example_param, example_flag);
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if (instance == nullptr) {
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PX4_ERR("alloc failed");
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}
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return instance;
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}
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Sih::Sih(int example_param, bool example_flag)
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: ModuleParams(nullptr)
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{
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}
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void Sih::run()
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{
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// to subscribe to (read) the actuators_out pwm
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int actuator_out_sub = orb_subscribe(ORB_ID(actuator_outputs));
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int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
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// initialize parameters
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int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
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parameters_update_poll(parameter_update_sub);
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init_variables();
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init_sensors();
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// on the AUAVX21: "/dev/ttyS2/" is TELEM2 UART3 --- "/dev/ttyS5/" is Debug UART7 --- "/dev/ttyS4/" is OSD UART8
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int serial_fd=init_serial_port(); // init and open the serial port
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const hrt_abstime task_start = hrt_absolute_time();
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hrt_abstime last_run = task_start;
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hrt_abstime gps_time = task_start;
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hrt_abstime serial_time = task_start;
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hrt_abstime now;
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while (!should_exit() && is_HIL_running(vehicle_status_sub)) {
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now = hrt_absolute_time();
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_dt = (now - last_run) * 1e-6f;
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last_run = now;
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read_motors(actuator_out_sub);
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generate_force_and_torques();
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equations_of_motion();
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reconstruct_sensors_signals();
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send_IMU(now);
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if (now - gps_time > 50000) // gps published at 20Hz
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{
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gps_time=now;
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send_gps(gps_time);
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}
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// send uart message every 40 ms
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if (now - serial_time > 40000)
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{
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serial_time=now;
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publish_sih(); // publish _sih message for debug purpose
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send_serial_msg(serial_fd, (int64_t)(now - task_start)/1000);
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parameters_update_poll(parameter_update_sub); // update the parameters if needed
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}
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// else if (loop_count==5)
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// {
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// tcflush(serial_fd, TCOFLUSH); // flush output data
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// tcdrain(serial_fd);
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// }
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usleep(1000); // sleeping time us
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}
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orb_unsubscribe(actuator_out_sub);
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orb_unsubscribe(parameter_update_sub);
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orb_unsubscribe(vehicle_status_sub);
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close(serial_fd);
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}
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void Sih::parameters_update_poll(int parameter_update_sub)
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{
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bool updated;
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struct parameter_update_s param_upd;
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orb_check(parameter_update_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(parameter_update), parameter_update_sub, ¶m_upd);
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updateParams();
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parameters_updated();
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}
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}
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uint8_t Sih::is_HIL_running(int vehicle_status_sub)
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{
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bool updated;
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struct vehicle_status_s vehicle_status;
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static uint8_t running=false;
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orb_check(vehicle_status_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
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running=vehicle_status.hil_state;
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}
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return running;
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}
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// store the parameters in a more convenient form
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void Sih::parameters_updated()
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{
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_T_MAX = _sih_t_max.get();
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_Q_MAX = _sih_q_max.get();
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_L_ROLL = _sih_l_roll.get();
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_L_PITCH = _sih_l_pitch.get();
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_KDV = _sih_kdv.get();
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_KDW = _sih_kdw.get();
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_H0 = _sih_h0.get();
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_LAT0 = (double)_sih_lat0.get()*1.0e-7;
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_LON0 = (double)_sih_lon0.get()*1.0e-7;
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_COS_LAT0=cosl(radians(_LAT0));
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_MASS=_sih_mass.get();
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_W_I=Vector3f(0.0f,0.0f,_MASS*CONSTANTS_ONE_G);
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_I=diag(Vector3f(_sih_ixx.get(),_sih_iyy.get(),_sih_izz.get()));
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_I(0,1)=_I(1,0)=_sih_ixy.get();
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_I(0,2)=_I(2,0)=_sih_ixz.get();
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_I(1,2)=_I(2,1)=_sih_iyz.get();
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_Im1=inv(_I);
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_mu_I=Vector3f(_sih_mu_x.get(), _sih_mu_y.get(), _sih_mu_z.get());
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}
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// initialization of the variables for the simulator
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void Sih::init_variables()
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{
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srand(1234); // initialize the random seed once before calling generate_wgn()
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_p_I=Vector3f(0.0f,0.0f,0.0f);
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_v_I=Vector3f(0.0f,0.0f,0.0f);
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_q=Quatf(1.0f,0.0f,0.0f,0.0f);
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_w_B=Vector3f(0.0f,0.0f,0.0f);
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_u[0]=_u[1]=_u[2]=_u[3]=0.0f;
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}
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void Sih::init_sensors()
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{
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_sensor_accel.device_id=1;
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_sensor_accel.error_count=0;
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_sensor_accel.integral_dt=0;
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_sensor_accel.temperature=T1_C;
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_sensor_accel.scaling=0.0f;
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_sensor_gyro.device_id=1;
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_sensor_gyro.error_count=0;
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_sensor_gyro.integral_dt=0;
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_sensor_gyro.temperature=T1_C;
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_sensor_gyro.scaling=0.0f;
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_sensor_mag.device_id=1;
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_sensor_mag.error_count=0;
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_sensor_mag.temperature=T1_C;
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_sensor_mag.scaling=0.0f;
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_sensor_mag.is_external=false;
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_sensor_baro.error_count=0;
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_sensor_baro.device_id=1;
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_vehicle_gps_pos.fix_type=3; // 3D fix
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_vehicle_gps_pos.satellites_used=8;
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_vehicle_gps_pos.heading=NAN;
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_vehicle_gps_pos.heading_offset=NAN;
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_vehicle_gps_pos.s_variance_m_s = 0.5f;
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_vehicle_gps_pos.c_variance_rad = 0.1f;
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_vehicle_gps_pos.eph = 0.9f;
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_vehicle_gps_pos.epv = 1.78f;
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_vehicle_gps_pos.hdop = 0.7f;
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_vehicle_gps_pos.vdop = 1.1f;
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}
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int Sih::init_serial_port()
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{
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struct termios uart_config;
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int serial_fd = open(_uart_name, O_WRONLY | O_NONBLOCK | O_NOCTTY);
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if (serial_fd < 0) {
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PX4_ERR("failed to open port: %s", _uart_name);
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}
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tcgetattr(serial_fd, &uart_config); // read configuration
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uart_config.c_oflag |= ONLCR;
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// try to set Bauds rate
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if (cfsetispeed(&uart_config, BAUDS_RATE) < 0 || cfsetospeed(&uart_config, BAUDS_RATE) < 0) {
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PX4_WARN("ERR SET BAUD %s\n", _uart_name);
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close(serial_fd);
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}
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tcsetattr(serial_fd, TCSANOW, &uart_config); // set config
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return serial_fd;
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}
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// read the motor signals outputted from the mixer
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void Sih::read_motors(const int actuator_out_sub)
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{
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struct actuator_outputs_s actuators_out {};
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// read the actuator outputs
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bool updated;
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orb_check(actuator_out_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(actuator_outputs), actuator_out_sub, &actuators_out);
|
||||
for (int i=0; i<NB_MOTORS; i++) // saturate the motor signals
|
||||
_u[i]=constrain((actuators_out.output[i]-PWM_DEFAULT_MIN)/(PWM_DEFAULT_MAX-PWM_DEFAULT_MIN),0.0f, 1.0f);
|
||||
}
|
||||
}
|
||||
|
||||
// generate the motors thrust and torque in the body frame
|
||||
void Sih::generate_force_and_torques()
|
||||
{
|
||||
_T_B=Vector3f(0.0f,0.0f,-_T_MAX*(+_u[0]+_u[1]+_u[2]+_u[3]));
|
||||
_Mt_B=Vector3f( _L_ROLL*_T_MAX* (-_u[0]+_u[1]+_u[2]-_u[3]),
|
||||
_L_PITCH*_T_MAX*(+_u[0]-_u[1]+_u[2]-_u[3]),
|
||||
_Q_MAX * (+_u[0]+_u[1]-_u[2]-_u[3]));
|
||||
|
||||
_Fa_I=-_KDV*_v_I; // first order drag to slow down the aircraft
|
||||
_Ma_B=-_KDW*_w_B; // first order angular damper
|
||||
}
|
||||
|
||||
// apply the equations of motion of a rigid body and integrate one step
|
||||
void Sih::equations_of_motion()
|
||||
{
|
||||
_C_IB=_q.to_dcm(); // body to inertial transformation
|
||||
|
||||
// Equations of motion of a rigid body
|
||||
_p_I_dot=_v_I; // position differential
|
||||
_v_I_dot=(_W_I+_Fa_I+_C_IB*_T_B)/_MASS; // conservation of linear momentum
|
||||
_q_dot=_q.derivative1(_w_B); // attitude differential
|
||||
_w_B_dot=_Im1*(_Mt_B+_Ma_B-_w_B.cross(_I*_w_B)); // conservation of angular momentum
|
||||
|
||||
// fake ground, avoid free fall
|
||||
if(_p_I(2)>0.0f && (_v_I_dot(2)>0.0f || _v_I(2)>0.0f))
|
||||
{
|
||||
_v_I.setZero();
|
||||
_w_B.setZero();
|
||||
_v_I_dot.setZero();
|
||||
}
|
||||
else
|
||||
{
|
||||
// integration: Euler forward
|
||||
_p_I = _p_I + _p_I_dot*_dt;
|
||||
_v_I = _v_I + _v_I_dot*_dt;
|
||||
_q = _q+_q_dot*_dt; // as given in attitude_estimator_q_main.cpp
|
||||
_q.normalize();
|
||||
_w_B = _w_B + _w_B_dot*_dt;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// reconstruct the noisy sensor signals
|
||||
void Sih::reconstruct_sensors_signals()
|
||||
{
|
||||
|
||||
// The sensor signals reconstruction and noise levels are from
|
||||
// Bulka, Eitan, and Meyer Nahon. "Autonomous fixed-wing aerobatics: from theory to flight."
|
||||
// In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573-6580. IEEE, 2018.
|
||||
|
||||
// IMU
|
||||
_acc=_C_IB.transpose()*(_v_I_dot-Vector3f(0.0f,0.0f,CONSTANTS_ONE_G))+noiseGauss3f(0.5f,1.7f,1.4f);
|
||||
_gyro=_w_B+noiseGauss3f(0.14f,0.07f,0.03f);
|
||||
_mag=_C_IB.transpose()*_mu_I+noiseGauss3f(0.02f,0.02f,0.03f);
|
||||
|
||||
// barometer
|
||||
float altitude=(_H0-_p_I(2))+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 celcius
|
||||
|
||||
// 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;
|
||||
_gps_alt_noiseless=_H0-_p_I(2);
|
||||
|
||||
_gps_lat=_gps_lat_noiseless+(double)(generate_wgn()*7.2e-6f); // latitude in degrees
|
||||
_gps_lon=_gps_lon_noiseless+(double)(generate_wgn()*1.75e-5f); // longitude in degrees
|
||||
_gps_alt=_gps_alt_noiseless+generate_wgn()*1.78f;
|
||||
_gps_vel=_v_I+noiseGauss3f(0.06f,0.077f,0.158f);
|
||||
}
|
||||
|
||||
void Sih::send_IMU(hrt_abstime now)
|
||||
{
|
||||
_sensor_accel.timestamp=now;
|
||||
_sensor_accel.x=_acc(0);
|
||||
_sensor_accel.y=_acc(1);
|
||||
_sensor_accel.z=_acc(2);
|
||||
if (_sensor_accel_pub != nullptr) {
|
||||
orb_publish(ORB_ID(sensor_accel), _sensor_accel_pub, &_sensor_accel);
|
||||
} else {
|
||||
_sensor_accel_pub = orb_advertise(ORB_ID(sensor_accel), &_sensor_accel);
|
||||
}
|
||||
|
||||
_sensor_gyro.timestamp=now;
|
||||
_sensor_gyro.x=_gyro(0);
|
||||
_sensor_gyro.y=_gyro(1);
|
||||
_sensor_gyro.z=_gyro(2);
|
||||
if (_sensor_gyro_pub != nullptr) {
|
||||
orb_publish(ORB_ID(sensor_gyro), _sensor_gyro_pub, &_sensor_gyro);
|
||||
} else {
|
||||
_sensor_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &_sensor_gyro);
|
||||
}
|
||||
|
||||
_sensor_mag.timestamp=now;
|
||||
_sensor_mag.x=_mag(0);
|
||||
_sensor_mag.y=_mag(1);
|
||||
_sensor_mag.z=_mag(2);
|
||||
if (_sensor_mag_pub != nullptr) {
|
||||
orb_publish(ORB_ID(sensor_mag), _sensor_mag_pub, &_sensor_mag);
|
||||
} else {
|
||||
_sensor_mag_pub = orb_advertise(ORB_ID(sensor_mag), &_sensor_mag);
|
||||
}
|
||||
|
||||
_sensor_baro.timestamp=now;
|
||||
_sensor_baro.pressure=_baro_p_mBar;
|
||||
_sensor_baro.temperature=_baro_temp_c;
|
||||
if (_sensor_baro_pub != nullptr) {
|
||||
orb_publish(ORB_ID(sensor_baro), _sensor_baro_pub, &_sensor_baro);
|
||||
} else {
|
||||
_sensor_baro_pub = orb_advertise(ORB_ID(sensor_baro), &_sensor_baro);
|
||||
}
|
||||
}
|
||||
|
||||
void Sih::send_gps(hrt_abstime now)
|
||||
{
|
||||
_vehicle_gps_pos.timestamp=now;
|
||||
_vehicle_gps_pos.lat=(int32_t)(_gps_lat*1e7); // Latitude in 1E-7 degrees
|
||||
_vehicle_gps_pos.lon=(int32_t)(_gps_lon*1e7); // Longitude in 1E-7 degrees
|
||||
_vehicle_gps_pos.alt=(int32_t)(_gps_alt*1000.0f); // Altitude in 1E-3 meters above MSL, (millimetres)
|
||||
_vehicle_gps_pos.alt_ellipsoid = (int32_t)(_gps_alt*1000); // Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
|
||||
_vehicle_gps_pos.vel_ned_valid=true; // True if NED velocity is valid
|
||||
_vehicle_gps_pos.vel_m_s=sqrtf(_gps_vel(0)*_gps_vel(0)+_gps_vel(1)*_gps_vel(1)); // GPS ground speed, (metres/sec)
|
||||
_vehicle_gps_pos.vel_n_m_s=_gps_vel(0); // GPS North velocity, (metres/sec)
|
||||
_vehicle_gps_pos.vel_e_m_s=_gps_vel(1); // GPS East velocity, (metres/sec)
|
||||
_vehicle_gps_pos.vel_d_m_s=_gps_vel(2); // GPS Down velocity, (metres/sec)
|
||||
_vehicle_gps_pos.cog_rad=atan2(_gps_vel(1),_gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
|
||||
if (_vehicle_gps_pos_pub != nullptr) {
|
||||
orb_publish(ORB_ID(vehicle_gps_position), _vehicle_gps_pos_pub, &_vehicle_gps_pos);
|
||||
} else {
|
||||
_vehicle_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_vehicle_gps_pos);
|
||||
}
|
||||
}
|
||||
|
||||
void Sih::publish_sih()
|
||||
{
|
||||
|
||||
Eulerf Euler(_q);
|
||||
_sih.timestamp=hrt_absolute_time();
|
||||
_sih.dt_us=(uint32_t)(_dt*1e6f);
|
||||
_sih.euler_rpy[0]=degrees(Euler(0));
|
||||
_sih.euler_rpy[1]=degrees(Euler(1));
|
||||
_sih.euler_rpy[2]=degrees(Euler(2));
|
||||
_sih.omega_b[0]=_w_B(0); // wing body rates in body frame
|
||||
_sih.omega_b[1]=_w_B(1);
|
||||
_sih.omega_b[2]=_w_B(2);
|
||||
_sih.p_i_local[0]=_p_I(0); // local inertial position
|
||||
_sih.p_i_local[1]=_p_I(1);
|
||||
_sih.p_i_local[2]=_p_I(2);
|
||||
_sih.v_i[0]=_v_I(0); // inertial velocity
|
||||
_sih.v_i[1]=_v_I(1);
|
||||
_sih.v_i[2]=_v_I(2);
|
||||
_sih.u[0]=_u[0];
|
||||
_sih.u[1]=_u[1];
|
||||
_sih.u[2]=_u[2];
|
||||
_sih.u[3]=_u[3];
|
||||
if (_sih_pub != nullptr) {
|
||||
orb_publish(ORB_ID(sih), _sih_pub, &_sih);
|
||||
} else {
|
||||
_sih_pub = orb_advertise(ORB_ID(sih), &_sih);
|
||||
}
|
||||
}
|
||||
|
||||
void Sih::send_serial_msg(int serial_fd, int64_t t_ms)
|
||||
{
|
||||
|
||||
char uart_msg[100];
|
||||
|
||||
uint8_t n;
|
||||
int32_t GPS_pos[3]; // latitude, longitude in 10^-7 degrees, altitude AMSL in mm
|
||||
int32_t EA_deci_deg[3]; // Euler angles in deci degrees integers to send to serial
|
||||
int32_t throttles[4]; // throttles from 0 to 99
|
||||
|
||||
GPS_pos[0]=(int32_t)(_gps_lat_noiseless*1e7); // Latitude in 1E-7 degrees
|
||||
GPS_pos[1]=(int32_t)(_gps_lon_noiseless*1e7); // Longitude in 1E-7 degrees
|
||||
GPS_pos[2]=(int32_t)(_gps_alt_noiseless*1000.0f); // Altitude in 1E-3 meters above MSL, (millimetres)
|
||||
Eulerf Euler(_q);
|
||||
EA_deci_deg[0]=(int32_t)degrees(Euler(0)*10.0f); // decidegrees
|
||||
EA_deci_deg[1]=(int32_t)degrees(Euler(1)*10.0f);
|
||||
EA_deci_deg[2]=(int32_t)degrees(Euler(2)*10.0f);
|
||||
throttles[0]=(int32_t)(_u[0]*99.0f);
|
||||
throttles[1]=(int32_t)(_u[1]*99.0f);
|
||||
throttles[2]=(int32_t)(_u[2]*99.0f);
|
||||
throttles[3]=(int32_t)(_u[3]*99.0f);
|
||||
|
||||
n = sprintf(uart_msg, "T%07lld,P%+010d%+010d%+08d,A%+05d%+05d%+05d,U%+03d%+03d%+03d%+03d\n",
|
||||
t_ms,GPS_pos[0],GPS_pos[1],GPS_pos[2],
|
||||
EA_deci_deg[0],EA_deci_deg[1],EA_deci_deg[2],
|
||||
throttles[0],throttles[1],throttles[2],throttles[3]);
|
||||
write(serial_fd, uart_msg, n);
|
||||
}
|
||||
|
||||
float Sih::generate_wgn() // generate white Gaussian noise sample with std=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);
|
||||
}
|
||||
|
||||
Vector3f Sih::noiseGauss3f(float stdx,float stdy, float stdz) // generate white Gaussian noise sample with specified std
|
||||
{
|
||||
return Vector3f(generate_wgn()*stdx,generate_wgn()*stdy,generate_wgn()*stdz);
|
||||
} // there is another wgn algorithm in BlockRandGauss.hpp
|
||||
|
||||
int sih_main(int argc, char *argv[])
|
||||
{
|
||||
return Sih::main(argc, argv);
|
||||
}
|
||||
|
||||
// int Sih::pack_float(char* uart_msg, int index, void *value)
|
||||
// {
|
||||
// uint32_t value_raw=(uint32_t)(value*);
|
||||
|
||||
// for (int i=3; i>=0; i=i-1) {
|
||||
// buffer[index+i]=(char)(value_raw&0xFF);
|
||||
// value_raw=value_raw>>8;
|
||||
// }
|
||||
|
||||
// return index+4; // points to the index for the next value
|
||||
// }
|
||||
200
src/modules/sih/sih.hpp
Normal file
200
src/modules/sih/sih.hpp
Normal file
@ -0,0 +1,200 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
|
||||
#include <matrix/matrix/math.hpp> // matrix, vectors, dcm, quaterions
|
||||
#include <conversion/rotation.h> // math::radians,
|
||||
#include <ecl/geo/geo.h> // to get the physical constants
|
||||
#include <drivers/drv_hrt.h> // to get the real time
|
||||
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/sensor_baro.h>
|
||||
#include <uORB/topics/sensor_gyro.h>
|
||||
#include <uORB/topics/sensor_accel.h>
|
||||
#include <uORB/topics/sensor_mag.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/sih.h>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
extern "C" __EXPORT int sih_main(int argc, char *argv[]);
|
||||
|
||||
class Sih : public ModuleBase<Sih>, public ModuleParams
|
||||
{
|
||||
public:
|
||||
Sih(int example_param, bool example_flag);
|
||||
|
||||
virtual ~Sih() = default;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static Sih *instantiate(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
/** @see ModuleBase::run() */
|
||||
void run() override;
|
||||
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
static float generate_wgn(); // generate white Gaussian noise sample
|
||||
|
||||
// generate white Gaussian noise sample as a 3D vector with specified std
|
||||
static Vector3f noiseGauss3f(float stdx, float stdy, float stdz);
|
||||
|
||||
// static int pack_float(char* uart_msg, int index, void *value); // pack a float to a IEEE754
|
||||
private:
|
||||
|
||||
/**
|
||||
* Check for parameter changes and update them if needed.
|
||||
* @param parameter_update_sub uorb subscription to parameter_update
|
||||
* @param force for a parameter update
|
||||
*/
|
||||
void parameters_update_poll(int parameter_update_sub);
|
||||
void parameters_updated();
|
||||
|
||||
uint8_t is_HIL_running(int vehicle_status_sub);
|
||||
|
||||
// to publish the simulator states
|
||||
struct sih_s _sih {};
|
||||
orb_advert_t _sih_pub{nullptr};
|
||||
// to publish the sensor baro
|
||||
struct sensor_baro_s _sensor_baro {};
|
||||
orb_advert_t _sensor_baro_pub{nullptr};
|
||||
// to publish the sensor mag
|
||||
struct sensor_mag_s _sensor_mag {};
|
||||
orb_advert_t _sensor_mag_pub{nullptr};
|
||||
// to publish the sensor gyroscope
|
||||
struct sensor_gyro_s _sensor_gyro {};
|
||||
orb_advert_t _sensor_gyro_pub{nullptr};
|
||||
// to publish the sensor accelerometer
|
||||
struct sensor_accel_s _sensor_accel {};
|
||||
orb_advert_t _sensor_accel_pub{nullptr};
|
||||
// to publish the gps position
|
||||
struct vehicle_gps_position_s _vehicle_gps_pos {};
|
||||
orb_advert_t _vehicle_gps_pos_pub{nullptr};
|
||||
|
||||
// hard constants
|
||||
static constexpr uint16_t NB_MOTORS = 4;
|
||||
static constexpr float T1_C = 15.0f; // ground temperature in celcius
|
||||
static constexpr float T1_K = T1_C - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // ground temperature in Kelvin
|
||||
static constexpr float TEMP_GRADIENT = -6.5f / 1000.0f; // temperature gradient in degrees per metre
|
||||
static constexpr uint32_t BAUDS_RATE = 57600; // bauds rate of the serial port
|
||||
|
||||
void init_variables();
|
||||
void init_sensors();
|
||||
int init_serial_port();
|
||||
void read_motors(const int actuator_out_sub);
|
||||
void generate_force_and_torques();
|
||||
void equations_of_motion();
|
||||
void reconstruct_sensors_signals();
|
||||
void send_IMU(hrt_abstime now);
|
||||
void send_gps(hrt_abstime now);
|
||||
void publish_sih();
|
||||
void send_serial_msg(int serial_fd, int64_t t_ms);
|
||||
|
||||
float _dt; // sampling time [s]
|
||||
|
||||
char _uart_name[12] = "/dev/ttyS5/"; // serial port name
|
||||
|
||||
Vector3f _T_B; // thrust force in body frame [N]
|
||||
Vector3f _Fa_I; // aerodynamic force in inertial frame [N]
|
||||
Vector3f _Mt_B; // thruster moments in the body frame [Nm]
|
||||
Vector3f _Ma_B; // aerodynamic moments in the body frame [Nm]
|
||||
Vector3f _p_I; // inertial position [m]
|
||||
Vector3f _v_I; // inertial velocity [m/s]
|
||||
Vector3f _v_B; // body frame velocity [m/s]
|
||||
Vector3f _p_I_dot; // inertial position differential
|
||||
Vector3f _v_I_dot; // inertial velocity differential
|
||||
Quatf _q; // quaternion attitude
|
||||
Dcmf _C_IB; // body to inertial transformation
|
||||
Vector3f _w_B; // body rates in body frame [rad/s]
|
||||
Quatf _q_dot; // quaternion differential
|
||||
Vector3f _w_B_dot; // body rates differential
|
||||
float _u[NB_MOTORS]; // thruster signals
|
||||
|
||||
|
||||
// sensors reconstruction
|
||||
Vector3f _acc;
|
||||
Vector3f _mag;
|
||||
Vector3f _gyro;
|
||||
Vector3f _gps_vel;
|
||||
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 celcius
|
||||
|
||||
// parameters
|
||||
float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0;
|
||||
double _LAT0, _LON0, _COS_LAT0;
|
||||
Vector3f _W_I; // weight of the vehicle in inertial frame [N]
|
||||
Matrix3f _I; // vehicle inertia matrix
|
||||
Matrix3f _Im1; // inverse of the intertia matrix
|
||||
Vector3f _mu_I; // NED magnetic field in inertial frame [G]
|
||||
|
||||
// parameters defined in sih_params.c
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::SIH_MASS>) _sih_mass,
|
||||
(ParamFloat<px4::params::SIH_IXX>) _sih_ixx,
|
||||
(ParamFloat<px4::params::SIH_IYY>) _sih_iyy,
|
||||
(ParamFloat<px4::params::SIH_IZZ>) _sih_izz,
|
||||
(ParamFloat<px4::params::SIH_IXY>) _sih_ixy,
|
||||
(ParamFloat<px4::params::SIH_IXZ>) _sih_ixz,
|
||||
(ParamFloat<px4::params::SIH_IYZ>) _sih_iyz,
|
||||
(ParamFloat<px4::params::SIH_T_MAX>) _sih_t_max,
|
||||
(ParamFloat<px4::params::SIH_Q_MAX>) _sih_q_max,
|
||||
(ParamFloat<px4::params::SIH_L_ROLL>) _sih_l_roll,
|
||||
(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_LAT0>) _sih_lat0,
|
||||
(ParamInt<px4::params::SIH_LON0>) _sih_lon0,
|
||||
(ParamFloat<px4::params::SIH_H0>) _sih_h0,
|
||||
(ParamFloat<px4::params::SIH_MU_X>) _sih_mu_x,
|
||||
(ParamFloat<px4::params::SIH_MU_Y>) _sih_mu_y,
|
||||
(ParamFloat<px4::params::SIH_MU_Z>) _sih_mu_z
|
||||
)
|
||||
};
|
||||
345
src/modules/sih/sih_params.c
Normal file
345
src/modules/sih/sih_params.c
Normal file
@ -0,0 +1,345 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2015 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file sih_params.c
|
||||
* Parameters for quadcopter X simulator in hardware.
|
||||
*
|
||||
* @author Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
* February 2019
|
||||
*/
|
||||
|
||||
/**
|
||||
* Vehicle mass
|
||||
*
|
||||
* This value can be measured by weighting the quad on a scale.
|
||||
*
|
||||
* @unit kg
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
|
||||
|
||||
/**
|
||||
* Vehicle inertia about X axis
|
||||
*
|
||||
* The intertia is a 3 by 3 symmetric matrix.
|
||||
* It represents the difficulty of the vehicle to modify its angular rate.
|
||||
*
|
||||
* @unit kg*m*m
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
|
||||
|
||||
/**
|
||||
* Vehicle inertia about Y axis
|
||||
*
|
||||
* The intertia is a 3 by 3 symmetric matrix.
|
||||
* It represents the difficulty of the vehicle to modify its angular rate.
|
||||
*
|
||||
* @unit kg*m*m
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
|
||||
|
||||
/**
|
||||
* Vehicle inertia about Z axis
|
||||
*
|
||||
* The intertia is a 3 by 3 symmetric matrix.
|
||||
* It represents the difficulty of the vehicle to modify its angular rate.
|
||||
*
|
||||
* @unit kg*m*m
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
|
||||
|
||||
/**
|
||||
* Vehicle cross term inertia xy
|
||||
*
|
||||
* The intertia is a 3 by 3 symmetric matrix.
|
||||
* This value can be set to 0 for a quad symmetric about its center of mass.
|
||||
*
|
||||
* @unit kg*m*m
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
|
||||
|
||||
/**
|
||||
* Vehicle cross term inertia xz
|
||||
*
|
||||
* The intertia is a 3 by 3 symmetric matrix.
|
||||
* This value can be set to 0 for a quad symmetric about its center of mass.
|
||||
*
|
||||
* @unit kg*m*m
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
|
||||
|
||||
/**
|
||||
* Vehicle cross term inertia yz
|
||||
*
|
||||
* The intertia is a 3 by 3 symmetric matrix.
|
||||
* This value can be set to 0 for a quad symmetric about its center of mass.
|
||||
*
|
||||
* @unit kg*m*m
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_IYZ, 0.0f);
|
||||
|
||||
/**
|
||||
* Max propeller thrust force
|
||||
*
|
||||
* This is the maximum force delivered by one propeller
|
||||
* when the motor is running at full speed.
|
||||
*
|
||||
* This value is usually about 5 times the mass of the quadrotor.
|
||||
*
|
||||
* @unit N
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.5
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_T_MAX, 5.0f);
|
||||
|
||||
/**
|
||||
* Max propeller torque
|
||||
*
|
||||
* This is the maximum torque delivered by one propeller
|
||||
* when the motor is running at full speed.
|
||||
*
|
||||
* This value is usually about few percent of the maximum thrust force.
|
||||
*
|
||||
* @unit Nm
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.05
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_Q_MAX, 0.1f);
|
||||
|
||||
/**
|
||||
* Roll arm length
|
||||
*
|
||||
* This is the arm length generating the rolling moment
|
||||
*
|
||||
* This value can be measured with a ruler.
|
||||
* This corresponds to half the distance between the left and right motors.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_L_ROLL, 0.2f);
|
||||
|
||||
/**
|
||||
* Pitch arm length
|
||||
*
|
||||
* This is the arm length generating the pitching moment
|
||||
*
|
||||
* This value can be measured with a ruler.
|
||||
* This corresponds to half the distance between the front and rear motors.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f);
|
||||
|
||||
/**
|
||||
* First order drag coefficient
|
||||
*
|
||||
* Physical coefficient representing the friction with air particules.
|
||||
* The greater this value, the slower the quad will move.
|
||||
*
|
||||
* Drag force function of velocity: D=-KDV*V.
|
||||
* The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]
|
||||
*
|
||||
* @unit N/(m/s)
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f);
|
||||
|
||||
/**
|
||||
* First order angular damper coefficient
|
||||
*
|
||||
* Physical coefficient representing the friction with air particules during rotations.
|
||||
* The greater this value, the slower the quad will rotate.
|
||||
*
|
||||
* Aerodynamic moment function of body rate: Ma=-KDW*W_B.
|
||||
* This value can be set to 0 if unknown.
|
||||
*
|
||||
* @unit Nm/(rad/s)
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.005
|
||||
* @group SIH
|
||||
*/
|
||||
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 1e-7 deg
|
||||
* @min -850000000
|
||||
* @max 850000000
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIH_LAT0, 454671160);
|
||||
|
||||
/**
|
||||
* 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 1e-7 deg
|
||||
* @min -1800000000
|
||||
* @max 1800000000
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIH_LON0, -737578370);
|
||||
|
||||
/**
|
||||
* Initial AMSL ground altitude
|
||||
*
|
||||
* This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins.
|
||||
*
|
||||
* If using FlightGear as a visual animation,
|
||||
* this value can be tweaked such that the vehicle lies on the ground at takeoff.
|
||||
*
|
||||
* 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 m
|
||||
* @min -420.0
|
||||
* @max 8848.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_H0, 32.34f);
|
||||
|
||||
/**
|
||||
* North magnetic field at the initial location
|
||||
*
|
||||
* This value represents the North magnetic field at the initial location.
|
||||
*
|
||||
* A magnetic field calculator can be found on the NOAA website
|
||||
* Note, the values need to be converted from nano Tesla to Gauss
|
||||
*
|
||||
* 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 Gauss
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.001
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_MU_X, 0.179f);
|
||||
|
||||
/**
|
||||
* East magnetic field at the initial location
|
||||
*
|
||||
* This value represents the East magnetic field at the initial location.
|
||||
*
|
||||
* A magnetic field calculator can be found on the NOAA website
|
||||
* Note, the values need to be converted from nano Tesla to Gauss
|
||||
*
|
||||
* 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 Gauss
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.001
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_MU_Y, -0.045f);
|
||||
|
||||
/**
|
||||
* Down magnetic field at the initial location
|
||||
*
|
||||
* This value represents the Down magnetic field at the initial location.
|
||||
*
|
||||
* A magnetic field calculator can be found on the NOAA website
|
||||
* Note, the values need to be converted from nano Tesla to Gauss
|
||||
*
|
||||
* 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 Gauss
|
||||
* @min -1.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.001
|
||||
* @group SIH
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIH_MU_Z, 0.504f);
|
||||
Loading…
x
Reference in New Issue
Block a user