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142 lines
4.2 KiB
C++
142 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL 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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* This class is providing methods to feed the ECL EKF with measurement.
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* It takes a pointer to the Ekf object and will manipulate the object
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* by call set*Data functions.
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* It simulates the time to allow for sensor data being set at certain rate
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* and also calls the update method of the EKF
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include <memory>
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#include <fstream>
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#include <iostream>
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#include <sstream>
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#include <vector>
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#include <array>
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#include "imu.h"
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#include "mag.h"
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#include "baro.h"
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#include "gps.h"
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#include "flow.h"
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#include "range_finder.h"
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#include "vio.h"
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#include "airspeed.h"
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#include "EKF/ekf.h"
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using namespace sensor_simulator::sensor;
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struct sensor_info {
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uint64_t timestamp {};
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enum measurement_t {IMU, MAG, BARO, GPS, AIRSPEED, RANGE, FLOW, VISION, LANDING_STATUS} sensor_type = IMU;
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std::array<double, 10> sensor_data {};
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};
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class SensorSimulator
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{
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public:
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SensorSimulator(std::shared_ptr<Ekf> ekf);
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~SensorSimulator();
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uint64_t getTime() const { return _time; };
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void runSeconds(float duration_seconds);
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void runMicroseconds(uint32_t duration);
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void runReplaySeconds(float duration_seconds);
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void runReplayMicroseconds(uint32_t duration);
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void startBaro() { _baro.start(); }
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void stopBaro() { _baro.stop(); }
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void startGps() { _gps.start(); }
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void stopGps() { _gps.stop(); }
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void startFlow() { _flow.start(); }
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void stopFlow() { _flow.stop(); }
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void startRangeFinder() { _rng.start(); }
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void stopRangeFinder() { _rng.stop(); }
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void startExternalVision() { _vio.start(); }
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void stopExternalVision() { _vio.stop(); }
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void startAirspeedSensor() { _airspeed.start(); }
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void stopAirspeedSensor() { _airspeed.stop(); }
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void setGpsLatitude(const double latitude);
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void setGpsLongitude(const double longitude);
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void setGpsAltitude(const float altitude);
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void setImuBias(Vector3f accel_bias, Vector3f gyro_bias);
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void simulateOrientation(Quatf orientation);
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void loadSensorDataFromFile(std::string filename);
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Airspeed _airspeed;
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Baro _baro;
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Flow _flow;
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Gps _gps;
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Imu _imu;
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Mag _mag;
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RangeFinder _rng;
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Vio _vio;
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protected:
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private:
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void setSensorDataToDefault();
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void setSensorDataFromReplayData();
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void setSensorRateToDefault();
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void setSingleReplaySample(const sensor_info& sample);
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void startBasicSensor();
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void updateSensors();
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std::shared_ptr<Ekf> _ekf {nullptr};
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std::vector<sensor_info> _replay_data {};
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bool _has_replay_data {false};
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uint64_t _current_replay_data_index {0};
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uint64_t _time {0}; // microseconds
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};
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