mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-30 07:14:07 +08:00
321ac6f994
airspeed, baro, and mag off. agp has no failures, and other failure types like stuck etc not implemented at all. doubting this implementation, lots of repetitions and almost-repetitions. maybe we should do it more similar to SimulatorMavlink.cpp? Where simulator_sih handles the sensor failures itself, with one big if mess, but the rest of it nice and lean. failing tests for quadx: - 'Continue on baro stuck during mission (baro height mode)': failed - 'Continue on baro stuck during mission (GPS height mode)': failed - 'Fly straight Multicopter Mission': failed - 'Offboard takeoff and land': failed - 'Offboard position control': failed
101 lines
3.7 KiB
C++
101 lines
3.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 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 <lib/perf/perf_counter.h>
|
|
#include <px4_platform_common/defines.h>
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/SubscriptionInterval.hpp>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/sensor_baro.h>
|
|
#include <uORB/topics/vehicle_global_position.h>
|
|
#include <uORB/topics/vehicle_command.h>
|
|
#include <uORB/topics/vehicle_command_ack.h>
|
|
|
|
using namespace time_literals;
|
|
|
|
class SensorBaroSim : public ModuleBase<SensorBaroSim>, public ModuleParams, public px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
SensorBaroSim();
|
|
~SensorBaroSim() override;
|
|
|
|
/** @see ModuleBase */
|
|
static int task_spawn(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int custom_command(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int print_usage(const char *reason = nullptr);
|
|
|
|
bool init();
|
|
|
|
void check_failure_injection();
|
|
|
|
private:
|
|
void Run() override;
|
|
|
|
// generate white Gaussian noise sample with std=1
|
|
static float generate_wgn();
|
|
|
|
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
|
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
|
|
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
|
|
|
|
|
|
bool _baro_rnd_use_last{false};
|
|
double _baro_rnd_y2{0.0};
|
|
float _baro_drift_pa_per_sec{0.0};
|
|
float _baro_drift_pa{0.0};
|
|
bool _baro_blocked{false};
|
|
|
|
hrt_abstime _last_update_time{0};
|
|
|
|
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
|
|
uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
|
|
|
|
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
|
|
|
DEFINE_PARAMETERS(
|
|
(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_p,
|
|
(ParamFloat<px4::params::SIM_BARO_OFF_T>) _sim_baro_off_t
|
|
)
|
|
};
|