mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 12:40:34 +08:00
Marco Hauswirth
215 lines
8.4 KiB
C++
215 lines
8.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025 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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#pragma once
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_gps.h>
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#include <uORB/topics/sensor_baro.h>
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#include <uORB/topics/sensor_mag.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <simulation/failure_injection/failureInjection.hpp>
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#include <drivers/drv_sensor.h>
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#include <lib/drivers/device/Device.hpp>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/world_magnetic_model/geo_mag_declination.h>
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#include <lib/geo/geo.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/lat_lon_alt/lat_lon_alt.hpp>
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#include <parameters/param.h>
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#include <random>
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using namespace time_literals;
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class SensorSimManager : public ModuleBase<SensorSimManager>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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SensorSimManager();
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~SensorSimManager() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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// Sensor simulation methods
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void updateGPS();
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void updateBarometer();
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void updateMagnetometer();
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void updateAirspeed();
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void updateAGP();
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void updateIMU();
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void updateDistanceSensor();
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// Utility methods
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static float generate_wgn();
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matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz);
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// Sensor timing structure
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struct SensorTiming {
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hrt_abstime interval_us;
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hrt_abstime next_update_time;
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hrt_abstime offset_us;
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bool enabled;
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};
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// Sensor timings with random offsets
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SensorTiming _gps_timing;
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SensorTiming _baro_timing;
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SensorTiming _mag_timing;
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SensorTiming _airspeed_timing;
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SensorTiming _agp_timing;
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SensorTiming _imu_timing;
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SensorTiming _distance_sensor_timing;
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SensorTiming _failure_update;
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// Subscriptions
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position_groundtruth)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude_groundtruth)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
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// Publications
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uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
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uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
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uORB::PublicationMulti<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
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uORB::PublicationMulti<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
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uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
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uORB::PublicationMulti<vehicle_global_position_s> _aux_global_position_pub{ORB_ID(aux_global_position)};
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PX4Accelerometer _px4_accel{1310988, ROTATION_NONE}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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PX4Gyroscope _px4_gyro{1310988, ROTATION_NONE}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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PX4Magnetometer _px4_mag{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
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FailureInjection _failure_injection{};
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matrix::Vector3f _last_mag{};
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float _last_baro_pressure{0.0f};
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float _last_baro_temperature{0.0f};
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _gps_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": gps")};
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perf_counter_t _baro_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": baro")};
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perf_counter_t _mag_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": mag")};
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perf_counter_t _airspeed_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": airspeed")};
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perf_counter_t _agp_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": agp")};
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perf_counter_t _imu_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": imu")};
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perf_counter_t _distance_sensor_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": distance")};
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// Random number generator for offsets and noise
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std::random_device _rd;
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std::mt19937 _gen;
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std::uniform_real_distribution<float> _uniform_dist;
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// Parameters
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::SENS_EN_GPSSIM>) _param_sens_en_gpssim,
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(ParamInt<px4::params::SENS_EN_BAROSIM>) _param_sens_en_barosim,
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(ParamInt<px4::params::SENS_EN_MAGSIM>) _param_sens_en_magsim,
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(ParamInt<px4::params::SENS_EN_ARSPDSIM>) _param_sens_en_arspdsim,
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(ParamInt<px4::params::SENS_EN_AGPSIM>) _param_sens_en_agpsim,
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(ParamInt<px4::params::SENS_EN_DISTSIM>) _param_sens_en_distsim,
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(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used,
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(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_p,
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(ParamFloat<px4::params::SIM_BARO_OFF_T>) _sim_baro_off_t,
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(ParamFloat<px4::params::SIM_MAG_OFFSET_X>) _sim_mag_offset_x,
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(ParamFloat<px4::params::SIM_MAG_OFFSET_Y>) _sim_mag_offset_y,
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(ParamFloat<px4::params::SIM_MAG_OFFSET_Z>) _sim_mag_offset_z,
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(ParamFloat<px4::params::SIH_DISTSNSR_MIN>) _distance_snsr_min,
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(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _distance_snsr_max
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)
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hrt_abstime _last_baro_update_time{0};
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float _baro_drift_pa{0.0f};
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float _baro_drift_pa_per_sec{0.1f};
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bool _baro_rnd_use_last{false};
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double _baro_rnd_y2{0.0};
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matrix::Vector3f _mag_earth_pred{};
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bool _mag_earth_available{false};
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LatLonAlt _agp_measured_lla{};
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matrix::Vector3f _agp_position_bias{};
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uint64_t _agp_time_last_update{0};
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matrix::Vector3f _last_accel{};
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matrix::Vector3f _last_gyro{};
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matrix::Vector3f _specific_force_E{};
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float _last_distance_sensor_value{0.0f};
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// Air constants
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static constexpr float TEMPERATURE_MSL = 288.0f; // [K]
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static constexpr float PRESSURE_MSL = 101325.0f; // [Pa]
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static constexpr float LAPSE_RATE = 0.0065f; // [K/m]
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static constexpr float AIR_DENSITY_MSL = 1.225f; // [kg/m^3]
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static constexpr float RHO = 1.225f; // Air density at sea level [kg/m^3]
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// IMU constants
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static constexpr float T1_C = 15.0f; // Temperature constant
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static constexpr hrt_abstime GROUNDTRUTH_DATA_MAX_AGE_US = 12000;
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// Parameter handles for cross-module access
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param_t _param_sim_gz_en_handle{PARAM_INVALID};
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int32_t _sim_gz_en_value{0};
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};
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