/**************************************************************************** * * Copyright (c) 2015 Mark Charlebois. 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. * ****************************************************************************/ #include #include #include #include "simulator.h" #include "errno.h" #include #include #include #include #include extern "C" __EXPORT hrt_abstime hrt_reset(void); #define SEND_INTERVAL 20 #define UDP_PORT 14560 #define PIXHAWK_DEVICE "/dev/ttyACM0" #ifndef B460800 #define B460800 460800 #endif #ifndef B921600 #define B921600 921600 #endif #define PRESS_GROUND 101325.0f #define DENSITY 1.2041f #define GRAVITY 9.81f static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS; static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f; static int openUart(const char *uart_name, int baud); static int _fd; static unsigned char _buf[1024]; sockaddr_in _srcaddr; static socklen_t _addrlen = sizeof(_srcaddr); using namespace simulator; void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg) { float out[8] = {}; const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2; // for now we only support quadrotors unsigned n = 4; if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) { for (unsigned i = 0; i < 8; i++) { if (_actuators.output[i] > PWM_DEFAULT_MIN / 2) { if (i < n) { // scale PWM out 900..2100 us to 0..1 for rotors */ out[i] = (_actuators.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); } else { // scale PWM out 900..2100 us to -1..1 for other channels */ out[i] = (_actuators.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); } } else { // send 0 when disarmed and for disabled channels */ out[i] = 0.0f; } } } else { // convert back to range [-1, 1] for (unsigned i = 0; i < 8; i++) { out[i] = (_actuators.output[i] - 1500) / 600.0f; } } // if vehicle status has not yet been updated, set actuator commands to zero // this is to prevent the simulation getting into a bad state if (_vehicle_status.timestamp == 0) { memset(out, 0, sizeof(out)); } actuator_msg.time_usec = hrt_absolute_time(); actuator_msg.roll_ailerons = out[0]; actuator_msg.pitch_elevator = (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) ? out[1] : -out[1]; actuator_msg.yaw_rudder = out[2]; actuator_msg.throttle = out[3]; actuator_msg.aux1 = out[4]; actuator_msg.aux2 = out[5]; actuator_msg.aux3 = _actuators.output[6] > PWM_DEFAULT_MIN / 2 ? out[6] : -1.0f;; actuator_msg.aux4 = out[7]; actuator_msg.mode = 0; // need to put something here actuator_msg.nav_mode = 0; } void Simulator::send_controls() { mavlink_hil_controls_t msg; pack_actuator_message(msg); send_mavlink_message(MAVLINK_MSG_ID_HIL_CONTROLS, &msg, 200); } static void fill_rc_input_msg(struct rc_input_values *rc, mavlink_rc_channels_t *rc_channels) { rc->timestamp_publication = hrt_absolute_time(); rc->timestamp_last_signal = hrt_absolute_time(); rc->channel_count = rc_channels->chancount; rc->rssi = rc_channels->rssi; /* PX4_WARN("RC: %d, %d, %d, %d, %d, %d, %d, %d", rc_channels->chan1_raw, rc_channels->chan2_raw, rc_channels->chan3_raw, rc_channels->chan4_raw, rc_channels->chan5_raw, rc_channels->chan6_raw, rc_channels->chan7_raw, rc_channels->chan8_raw); */ rc->values[0] = rc_channels->chan1_raw; rc->values[1] = rc_channels->chan2_raw; rc->values[2] = rc_channels->chan3_raw; rc->values[3] = rc_channels->chan4_raw; rc->values[4] = rc_channels->chan5_raw; rc->values[5] = rc_channels->chan6_raw; rc->values[6] = rc_channels->chan7_raw; rc->values[7] = rc_channels->chan8_raw; rc->values[8] = rc_channels->chan9_raw; rc->values[9] = rc_channels->chan10_raw; rc->values[10] = rc_channels->chan11_raw; rc->values[11] = rc_channels->chan12_raw; rc->values[12] = rc_channels->chan13_raw; rc->values[13] = rc_channels->chan14_raw; rc->values[14] = rc_channels->chan15_raw; rc->values[15] = rc_channels->chan16_raw; rc->values[16] = rc_channels->chan17_raw; rc->values[17] = rc_channels->chan18_raw; } void Simulator::update_sensors(mavlink_hil_sensor_t *imu) { // write sensor data to memory so that drivers can copy data from there RawMPUData mpu = {}; mpu.accel_x = imu->xacc; mpu.accel_y = imu->yacc; mpu.accel_z = imu->zacc; mpu.temp = imu->temperature; mpu.gyro_x = imu->xgyro; mpu.gyro_y = imu->ygyro; mpu.gyro_z = imu->zgyro; write_MPU_data(&mpu); perf_begin(_perf_mpu); RawAccelData accel = {}; accel.x = imu->xacc; accel.y = imu->yacc; accel.z = imu->zacc; write_accel_data(&accel); perf_begin(_perf_accel); RawMagData mag = {}; mag.x = imu->xmag; mag.y = imu->ymag; mag.z = imu->zmag; write_mag_data(&mag); perf_begin(_perf_mag); RawBaroData baro = {}; // calculate air pressure from altitude (valid for low altitude) baro.pressure = (PRESS_GROUND - GRAVITY * DENSITY * imu->pressure_alt) / 100.0f; // convert from Pa to mbar baro.altitude = imu->pressure_alt; baro.temperature = imu->temperature; write_baro_data(&baro); RawAirspeedData airspeed = {}; airspeed.temperature = imu->temperature; airspeed.diff_pressure = imu->diff_pressure; write_airspeed_data(&airspeed); } void Simulator::update_gps(mavlink_hil_gps_t *gps_sim) { RawGPSData gps; gps.lat = gps_sim->lat; gps.lon = gps_sim->lon; gps.alt = gps_sim->alt; gps.eph = gps_sim->eph; gps.epv = gps_sim->epv; gps.vel = gps_sim->vel; gps.vn = gps_sim->vn; gps.ve = gps_sim->ve; gps.vd = gps_sim->vd; gps.cog = gps_sim->cog; gps.fix_type = gps_sim->fix_type; gps.satellites_visible = gps_sim->satellites_visible; write_gps_data((void *)&gps); } void Simulator::handle_message(mavlink_message_t *msg, bool publish) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_SENSOR: { mavlink_hil_sensor_t imu; mavlink_msg_hil_sensor_decode(msg, &imu); // set temperature to a decent value imu.temperature = 32.0f; uint64_t sim_timestamp = imu.time_usec; struct timespec ts; px4_clock_gettime(CLOCK_REALTIME, &ts); uint64_t timestamp = ts.tv_sec * 1000 * 1000 + ts.tv_nsec / 1000; perf_set(_perf_sim_delay, timestamp - sim_timestamp); perf_count(_perf_sim_interval); if (publish) { publish_sensor_topics(&imu); } update_sensors(&imu); /* battery */ { hrt_abstime now = hrt_absolute_time(); const float discharge_interval_us = 60 * 1000 * 1000; static hrt_abstime batt_sim_start = now; float cellcount = 3.0f; float vbatt = 4.2f * cellcount; float ibatt = 20.0f; vbatt -= (0.5f * cellcount) * ((now - batt_sim_start) / discharge_interval_us); if (vbatt < (cellcount * 3.7f)) { vbatt = cellcount * 3.7f; } battery_status_s battery_status; battery_status.timestamp = hrt_absolute_time(); /* voltage is scaled to mV */ battery_status.voltage_v = vbatt; battery_status.voltage_filtered_v = vbatt; /* ibatt contains the raw ADC count, as 12 bit ADC value, with full range being 3.3v */ battery_status.current_a = ibatt; /* integrate battery over time to get total mAh used */ if (_battery_last_timestamp != 0) { _battery_mamphour_total += battery_status.current_a * (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600; } battery_status.discharged_mah = _battery_mamphour_total; /* lazily publish the battery voltage */ if (_battery_pub != nullptr) { orb_publish(ORB_ID(battery_status), _battery_pub, &battery_status); _battery_last_timestamp = battery_status.timestamp; } else { _battery_pub = orb_advertise(ORB_ID(battery_status), &battery_status); } } } break; case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW: mavlink_hil_optical_flow_t flow; mavlink_msg_hil_optical_flow_decode(msg, &flow); publish_flow_topic(&flow); break; case MAVLINK_MSG_ID_HIL_GPS: mavlink_hil_gps_t gps_sim; mavlink_msg_hil_gps_decode(msg, &gps_sim); if (publish) { //PX4_WARN("FIXME: Need to publish GPS topic. Not done yet."); } update_gps(&gps_sim); break; case MAVLINK_MSG_ID_RC_CHANNELS: mavlink_rc_channels_t rc_channels; mavlink_msg_rc_channels_decode(msg, &rc_channels); fill_rc_input_msg(&_rc_input, &rc_channels); // publish message if (publish) { if (_rc_channels_pub == nullptr) { _rc_channels_pub = orb_advertise(ORB_ID(input_rc), &_rc_input); } else { orb_publish(ORB_ID(input_rc), _rc_channels_pub, &_rc_input); } } break; } } void Simulator::send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID) { component_ID = 0; uint8_t payload_len = mavlink_message_lengths[msgid]; unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; uint8_t buf[MAVLINK_MAX_PACKET_LEN]; /* header */ buf[0] = MAVLINK_STX; buf[1] = payload_len; /* no idea which numbers should be here*/ buf[2] = 100; buf[3] = 0; buf[4] = component_ID; buf[5] = msgid; /* payload */ memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], msg, payload_len); /* checksum */ uint16_t checksum; crc_init(&checksum); crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len); crc_accumulate(mavlink_message_crcs[msgid], &checksum); buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF); buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8); ssize_t len = sendto(_fd, buf, packet_len, 0, (struct sockaddr *)&_srcaddr, _addrlen); if (len <= 0) { PX4_WARN("Failed sending mavlink message"); } } void Simulator::poll_topics() { // copy new actuator data if available bool updated; orb_check(_actuator_outputs_sub, &updated); if (updated) { orb_copy(ORB_ID(actuator_outputs), _actuator_outputs_sub, &_actuators); } orb_check(_vehicle_status_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status); } } void *Simulator::sending_trampoline(void *) { _instance->send(); return nullptr; } void Simulator::send() { px4_pollfd_struct_t fds[1] = {}; fds[0].fd = _actuator_outputs_sub; fds[0].events = POLLIN; // set the threads name #ifdef __PX4_DARWIN pthread_setname_np("sim_send"); #else pthread_setname_np(pthread_self(), "sim_send"); #endif int pret; while (true) { // wait for up to 100ms for data pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); // timed out if (pret == 0) { continue; } // this is undesirable but not much we can do if (pret < 0) { PX4_WARN("poll error %d, %d", pret, errno); continue; } if (fds[0].revents & POLLIN) { // got new data to read, update all topics poll_topics(); send_controls(); } } } void Simulator::initializeSensorData() { // write sensor data to memory so that drivers can copy data from there RawMPUData mpu = {}; mpu.accel_z = 9.81f; write_MPU_data(&mpu); RawAccelData accel = {}; accel.z = 9.81f; write_accel_data(&accel); RawMagData mag = {}; mag.x = 0.4f; mag.y = 0.0f; mag.z = 0.6f; write_mag_data((void *)&mag); RawBaroData baro = {}; // calculate air pressure from altitude (valid for low altitude) baro.pressure = 120000.0f; baro.altitude = 0.0f; baro.temperature = 25.0f; write_baro_data(&baro); RawAirspeedData airspeed {}; write_airspeed_data(&airspeed); } void Simulator::pollForMAVLinkMessages(bool publish) { // set the threads name #ifdef __PX4_DARWIN pthread_setname_np("sim_rcv"); #else pthread_setname_np(pthread_self(), "sim_rcv"); #endif // udp socket data struct sockaddr_in _myaddr; const int _port = UDP_PORT; // try to setup udp socket for communcation with simulator memset((char *)&_myaddr, 0, sizeof(_myaddr)); _myaddr.sin_family = AF_INET; _myaddr.sin_addr.s_addr = htonl(INADDR_ANY); _myaddr.sin_port = htons(_port); if ((_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) { PX4_WARN("create socket failed\n"); return; } if (bind(_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) { PX4_WARN("bind failed\n"); return; } // create a thread for sending data to the simulator pthread_t sender_thread; // initialize threads pthread_attr_t sender_thread_attr; pthread_attr_init(&sender_thread_attr); pthread_attr_setstacksize(&sender_thread_attr, 1000); struct sched_param param; (void)pthread_attr_getschedparam(&sender_thread_attr, ¶m); /* low priority */ param.sched_priority = SCHED_PRIORITY_DEFAULT + 40; (void)pthread_attr_setschedparam(&sender_thread_attr, ¶m); // setup serial connection to autopilot (used to get manual controls) int serial_fd = openUart(PIXHAWK_DEVICE, 115200); if (serial_fd < 0) { PX4_INFO("Not using %s for radio control input. Assuming joystick input via MAVLink.", PIXHAWK_DEVICE); } else { // tell the device to stream some messages char command[] = "\nsh /etc/init.d/rc.usb\n"; int w = ::write(serial_fd, command, sizeof(command)); if (w <= 0) { PX4_WARN("failed to send streaming command to %s", PIXHAWK_DEVICE); } } char serial_buf[1024]; struct pollfd fds[2]; memset(fds, 0, sizeof(fds)); unsigned fd_count = 1; fds[0].fd = _fd; fds[0].events = POLLIN; if (serial_fd >= 0) { fds[1].fd = serial_fd; fds[1].events = POLLIN; fd_count++; } int len = 0; // wait for first data from simulator and respond with first controls // this is important for the UDP communication to work int pret = -1; PX4_INFO("Waiting for initial data on UDP. Please start the flight simulator to proceed.."); while (pret <= 0) { pret = ::poll(&fds[0], fd_count, 100); } _initialized = true; // reset system time (void)hrt_reset(); if (fds[0].revents & POLLIN) { len = recvfrom(_fd, _buf, sizeof(_buf), 0, (struct sockaddr *)&_srcaddr, &_addrlen); PX4_INFO("Sending initial controls message to simulator"); send_controls(); } // subscribe to topics _actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), 0); _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); // got data from simulator, now activate the sending thread pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL); pthread_attr_destroy(&sender_thread_attr); mavlink_status_t udp_status = {}; mavlink_status_t serial_status = {}; bool sim_delay = false; const unsigned max_wait_ms = 6; // wait for new mavlink messages to arrive while (true) { pret = ::poll(&fds[0], fd_count, max_wait_ms); //timed out if (pret == 0) { if (!sim_delay) { // we do not want to spam the console by default // PX4_WARN("mavlink sim timeout for %d ms", max_wait_ms); sim_delay = true; hrt_start_delay(); px4_sim_start_delay(); } continue; } if (sim_delay) { sim_delay = false; hrt_stop_delay(); px4_sim_stop_delay(); } // this is undesirable but not much we can do if (pret < 0) { PX4_WARN("simulator mavlink: poll error %d, %d", pret, errno); // sleep a bit before next try usleep(100000); continue; } // got data from simulator if (fds[0].revents & POLLIN) { len = recvfrom(_fd, _buf, sizeof(_buf), 0, (struct sockaddr *)&_srcaddr, &_addrlen); if (len > 0) { mavlink_message_t msg; for (int i = 0; i < len; i++) { if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &udp_status)) { // have a message, handle it handle_message(&msg, publish); } } } } // got data from PIXHAWK if (fd_count > 1 && fds[1].revents & POLLIN) { len = ::read(serial_fd, serial_buf, sizeof(serial_buf)); if (len > 0) { mavlink_message_t msg; for (int i = 0; i < len; ++i) { if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) { // have a message, handle it handle_message(&msg, true); } } } } } } int openUart(const char *uart_name, int baud) { /* process baud rate */ int speed; switch (baud) { case 0: speed = B0; break; case 50: speed = B50; break; case 75: speed = B75; break; case 110: speed = B110; break; case 134: speed = B134; break; case 150: speed = B150; break; case 200: speed = B200; break; case 300: speed = B300; break; case 600: speed = B600; break; case 1200: speed = B1200; break; case 1800: speed = B1800; break; case 2400: speed = B2400; break; case 4800: speed = B4800; break; case 9600: speed = B9600; break; case 19200: speed = B19200; break; case 38400: speed = B38400; break; case 57600: speed = B57600; break; case 115200: speed = B115200; break; case 230400: speed = B230400; break; case 460800: speed = B460800; break; case 921600: speed = B921600; break; default: warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", baud); return -EINVAL; } /* open uart */ int uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY); if (uart_fd < 0) { return uart_fd; } /* Try to set baud rate */ struct termios uart_config; memset(&uart_config, 0, sizeof(uart_config)); int termios_state; /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(uart_fd, &uart_config)) < 0) { warnx("ERR GET CONF %s: %d\n", uart_name, termios_state); ::close(uart_fd); return -1; } /* Fill the struct for the new configuration */ tcgetattr(uart_fd, &uart_config); /* USB serial is indicated by /dev/ttyACM0*/ if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state); ::close(uart_fd); return -1; } } // Make raw cfmakeraw(&uart_config); if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0) { warnx("ERR SET CONF %s\n", uart_name); ::close(uart_fd); return -1; } return uart_fd; } int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu) { uint64_t timestamp = hrt_absolute_time(); if ((imu->fields_updated & 0x1FFF) != 0x1FFF) { PX4_DEBUG("All sensor fields in mavlink HIL_SENSOR packet not updated. Got %08x", imu->fields_updated); } /* static int count=0; static uint64_t last_timestamp=0; count++; if (!(count % 200)) { PX4_WARN("TIME : %lu, dt: %lu", (unsigned long) timestamp,(unsigned long) timestamp - (unsigned long) last_timestamp); PX4_WARN("IMU : %f %f %f",imu->xgyro,imu->ygyro,imu->zgyro); PX4_WARN("ACCEL: %f %f %f",imu->xacc,imu->yacc,imu->zacc); PX4_WARN("MAG : %f %f %f",imu->xmag,imu->ymag,imu->zmag); PX4_WARN("BARO : %f %f %f",imu->abs_pressure,imu->pressure_alt,imu->temperature); } last_timestamp = timestamp; */ /* gyro */ { struct gyro_report gyro = {}; gyro.timestamp = timestamp; gyro.x_raw = imu->xgyro * 1000.0f; gyro.y_raw = imu->ygyro * 1000.0f; gyro.z_raw = imu->zgyro * 1000.0f; gyro.x = imu->xgyro; gyro.y = imu->ygyro; gyro.z = imu->zgyro; gyro.temperature = imu->temperature; if (_gyro_pub == nullptr) { _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); } else { orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); } } /* accelerometer */ { struct accel_report accel = {}; accel.timestamp = timestamp; accel.x_raw = imu->xacc / mg2ms2; accel.y_raw = imu->yacc / mg2ms2; accel.z_raw = imu->zacc / mg2ms2; accel.x = imu->xacc; accel.y = imu->yacc; accel.z = imu->zacc; accel.temperature = imu->temperature; if (_accel_pub == nullptr) { _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } /* magnetometer */ { struct mag_report mag = {}; mag.timestamp = timestamp; mag.x_raw = imu->xmag * 1000.0f; mag.y_raw = imu->ymag * 1000.0f; mag.z_raw = imu->zmag * 1000.0f; mag.x = imu->xmag; mag.y = imu->ymag; mag.z = imu->zmag; mag.temperature = imu->temperature; if (_mag_pub == nullptr) { /* publish to the first mag topic */ _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); } else { orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); } } /* baro */ { struct baro_report baro = {}; baro.timestamp = timestamp; baro.pressure = imu->abs_pressure; baro.altitude = imu->pressure_alt; baro.temperature = imu->temperature; if (_baro_pub == nullptr) { _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); } else { orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); } } return OK; } int Simulator::publish_flow_topic(mavlink_hil_optical_flow_t *flow_mavlink) { uint64_t timestamp = hrt_absolute_time(); /* flow */ { struct optical_flow_s flow; memset(&flow, 0, sizeof(flow)); flow.sensor_id = flow_mavlink->sensor_id; flow.timestamp = timestamp; flow.time_since_last_sonar_update = 0; flow.frame_count_since_last_readout = 0; // ? flow.integration_timespan = flow_mavlink->integration_time_us; flow.ground_distance_m = flow_mavlink->distance; flow.gyro_temperature = flow_mavlink->temperature; flow.gyro_x_rate_integral = flow_mavlink->integrated_xgyro; flow.gyro_y_rate_integral = flow_mavlink->integrated_ygyro; flow.gyro_z_rate_integral = flow_mavlink->integrated_zgyro; flow.pixel_flow_x_integral = flow_mavlink->integrated_x; flow.pixel_flow_x_integral = flow_mavlink->integrated_y; flow.quality = flow_mavlink->quality; if (_flow_pub == nullptr) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &flow); } else { orb_publish(ORB_ID(optical_flow), _flow_pub, &flow); } } return OK; }