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PX4-Autopilot/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
Julian Oes 3cd9a56f1b
simulation: fix TSAN issue
2026-02-18 21:03:45 +13:00

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/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
* Copyright (c) 2016 Anton Matosov. All rights reserved.
* Copyright (c) 2017-2020 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.
*
****************************************************************************/
#include "SimulatorMavlink.hpp"
#include <px4_platform_common/log.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/tasks.h>
#include <lib/geo/geo.h>
#include <drivers/device/Device.hpp>
#include <drivers/drv_pwm_output.h>
#include <conversion/rotation.h>
#include <mathlib/mathlib.h>
#include <lib/drivers/device/Device.hpp>
#include <arpa/inet.h>
#include <errno.h>
#include <netdb.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <poll.h>
#include <pthread.h>
#include <sys/socket.h>
#include <termios.h>
#include <arpa/inet.h>
#include <limits>
static int _fd;
static unsigned char _buf[2048];
static sockaddr_in _srcaddr;
static unsigned _addrlen = sizeof(_srcaddr);
const unsigned mode_flag_armed = 128;
const unsigned mode_flag_custom = 1;
using namespace time_literals;
static px4_task_t g_sim_task = -1;
SimulatorMavlink *SimulatorMavlink::_instance = nullptr;
static constexpr vehicle_odometry_s vehicle_odometry_empty {
.timestamp = 0,
.timestamp_sample = 0,
.position = {NAN, NAN, NAN},
.q = {NAN, NAN, NAN, NAN},
.velocity = {NAN, NAN, NAN},
.angular_velocity = {NAN, NAN, NAN},
.position_variance = {NAN, NAN, NAN},
.orientation_variance = {NAN, NAN, NAN},
.velocity_variance = {NAN, NAN, NAN},
.pose_frame = vehicle_odometry_s::POSE_FRAME_UNKNOWN,
.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_UNKNOWN,
.reset_counter = 0,
.quality = 0
};
SimulatorMavlink::SimulatorMavlink() :
ModuleParams(nullptr)
{
for (int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", "PWM_MAIN", "FUNC", i + 1);
param_get(param_find(param_name), &_output_functions[i]);
}
_esc_status_pub.advertise();
}
void SimulatorMavlink::parameters_update(bool force)
{
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
}
}
void SimulatorMavlink::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *msg)
{
memset(msg, 0, sizeof(mavlink_hil_actuator_controls_t));
msg->time_usec = hrt_absolute_time();
bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
if (armed) {
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
msg->controls[i] = _actuator_outputs.output[i];
}
}
msg->mode = mode_flag_custom;
msg->mode |= (armed) ? mode_flag_armed : 0;
msg->flags = 0;
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
msg->flags |= 1;
#endif
}
void SimulatorMavlink::send_esc_telemetry(mavlink_hil_actuator_controls_t hil_act_control)
{
esc_status_s esc_status{};
esc_status.timestamp = hrt_absolute_time();
const int max_esc_count = math::min(actuator_outputs_s::NUM_ACTUATOR_OUTPUTS, esc_status_s::CONNECTED_ESC_MAX);
const bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
int max_esc_index = 0;
for (int i = 0; i < max_esc_count; i++) {
if (_output_functions[i] != 0) {
max_esc_index = i;
}
esc_status.esc[i].actuator_function = _output_functions[i]; // TODO: this should be in pwm_sim...
esc_status.esc[i].timestamp = esc_status.timestamp;
esc_status.esc[i].esc_errorcount = 0; // TODO
esc_status.esc[i].esc_voltage = _battery_status.voltage_v;
esc_status.esc[i].esc_current = armed ? 1.0f + math::abs_t(hil_act_control.controls[i]) * 15.0f :
0.0f; // TODO: magic number
esc_status.esc[i].esc_rpm = hil_act_control.controls[i] * 6000; // TODO: magic number
esc_status.esc[i].esc_temperature = 20.0 + math::abs_t(hil_act_control.controls[i]) * 40.0;
}
esc_status.esc_count = max_esc_index + 1;
esc_status.esc_armed_flags = (1u << esc_status.esc_count) - 1;
esc_status.esc_online_flags = (1u << esc_status.esc_count) - 1;
_esc_status_pub.publish(esc_status);
}
void SimulatorMavlink::send_controls()
{
orb_copy(ORB_ID(actuator_outputs), _actuator_outputs_sub, &_actuator_outputs);
if (_actuator_outputs.timestamp > 0) {
mavlink_hil_actuator_controls_t hil_act_control;
actuator_controls_from_outputs(&hil_act_control);
mavlink_message_t message{};
mavlink_msg_hil_actuator_controls_encode(_param_mav_sys_id.get(), _param_mav_comp_id.get(), &message, &hil_act_control);
PX4_DEBUG("sending controls t=%ld (%ld)", _actuator_outputs.timestamp, hil_act_control.time_usec);
send_mavlink_message(message);
send_esc_telemetry(hil_act_control);
}
}
void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
{
// temperature only updated with baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
if (PX4_ISFINITE(sensors.temperature)) {
_sensors_temperature = sensors.temperature;
}
}
// accel
if ((sensors.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL) {
if (sensors.id >= ACCEL_COUNT_MAX) {
PX4_ERR("Number of simulated accelerometer %d out of range. Max: %d", sensors.id, ACCEL_COUNT_MAX);
return;
}
if (sensors.id == 0) {
// accel 0 is simulated FIFO
static constexpr float ACCEL_FIFO_SCALE = CONSTANTS_ONE_G / 2048.f;
static constexpr float ACCEL_FIFO_RANGE = 16.f * CONSTANTS_ONE_G;
_px4_accel[sensors.id].set_scale(ACCEL_FIFO_SCALE);
_px4_accel[sensors.id].set_range(ACCEL_FIFO_RANGE);
if (_accel_stuck[sensors.id]) {
_px4_accel[sensors.id].updateFIFO(_last_accel_fifo);
} else if (!_accel_blocked[sensors.id]) {
_px4_accel[sensors.id].set_temperature(_sensors_temperature);
_last_accel_fifo.samples = 1;
_last_accel_fifo.dt = time - _last_accel_fifo.timestamp_sample;
_last_accel_fifo.timestamp_sample = time;
_last_accel_fifo.x[0] = sensors.xacc / ACCEL_FIFO_SCALE;
_last_accel_fifo.y[0] = sensors.yacc / ACCEL_FIFO_SCALE;
_last_accel_fifo.z[0] = sensors.zacc / ACCEL_FIFO_SCALE;
_px4_accel[sensors.id].updateFIFO(_last_accel_fifo);
}
} else {
if (_accel_stuck[sensors.id]) {
_px4_accel[sensors.id].update(time, _last_accel[sensors.id](0), _last_accel[sensors.id](1), _last_accel[sensors.id](2));
} else if (!_accel_blocked[sensors.id]) {
_px4_accel[sensors.id].set_temperature(_sensors_temperature);
_px4_accel[sensors.id].update(time, sensors.xacc, sensors.yacc, sensors.zacc);
_last_accel[sensors.id] = matrix::Vector3f{sensors.xacc, sensors.yacc, sensors.zacc};
}
}
}
// gyro
if ((sensors.fields_updated & SensorSource::GYRO) == SensorSource::GYRO) {
if (sensors.id >= GYRO_COUNT_MAX) {
PX4_ERR("Number of simulated gyroscope %d out of range. Max: %d", sensors.id, GYRO_COUNT_MAX);
return;
}
if (sensors.id == 0) {
// gyro 0 is simulated FIFO
static constexpr float GYRO_FIFO_SCALE = math::radians(2000.f / 32768.f);
static constexpr float GYRO_FIFO_RANGE = math::radians(2000.f);
_px4_gyro[sensors.id].set_scale(GYRO_FIFO_SCALE);
_px4_gyro[sensors.id].set_range(GYRO_FIFO_RANGE);
if (_gyro_stuck[sensors.id]) {
_px4_gyro[sensors.id].updateFIFO(_last_gyro_fifo);
} else if (!_gyro_blocked[sensors.id]) {
_px4_gyro[sensors.id].set_temperature(_sensors_temperature);
_last_gyro_fifo.samples = 1;
_last_gyro_fifo.dt = time - _last_gyro_fifo.timestamp_sample;
_last_gyro_fifo.timestamp_sample = time;
_last_gyro_fifo.x[0] = sensors.xgyro / GYRO_FIFO_SCALE;
_last_gyro_fifo.y[0] = sensors.ygyro / GYRO_FIFO_SCALE;
_last_gyro_fifo.z[0] = sensors.zgyro / GYRO_FIFO_SCALE;
_px4_gyro[sensors.id].updateFIFO(_last_gyro_fifo);
}
} else {
if (_gyro_stuck[sensors.id]) {
_px4_gyro[sensors.id].update(time, _last_gyro[sensors.id](0), _last_gyro[sensors.id](1), _last_gyro[sensors.id](2));
} else if (!_gyro_blocked[sensors.id]) {
_px4_gyro[sensors.id].set_temperature(_sensors_temperature);
_px4_gyro[sensors.id].update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro);
_last_gyro[sensors.id] = matrix::Vector3f{sensors.xgyro, sensors.ygyro, sensors.zgyro};
}
}
}
// magnetometer
if ((sensors.fields_updated & SensorSource::MAG) == SensorSource::MAG) {
if (sensors.id >= MAG_COUNT_MAX) {
PX4_ERR("Number of simulated magnetometer %d out of range. Max: %d", sensors.id, MAG_COUNT_MAX);
return;
}
if (_mag_stuck[sensors.id]) {
_px4_mag[sensors.id].update(time, _last_magx[sensors.id], _last_magy[sensors.id], _last_magz[sensors.id]);
} else if (!_mag_blocked[sensors.id]) {
_px4_mag[sensors.id].set_temperature(_sensors_temperature);
_px4_mag[sensors.id].update(time, sensors.xmag, sensors.ymag, sensors.zmag);
_last_magx[sensors.id] = sensors.xmag;
_last_magy[sensors.id] = sensors.ymag;
_last_magz[sensors.id] = sensors.zmag;
}
}
// baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) {
if (!_baro_stuck) {
_last_baro_pressure = sensors.abs_pressure * 100.f; // hPa to Pa
_last_baro_temperature = sensors.temperature;
}
// publish
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = time;
sensor_baro.pressure = _last_baro_pressure;
sensor_baro.temperature = _last_baro_temperature;
// publish 1st baro
sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pubs[0].publish(sensor_baro);
// publish 2nd baro
sensor_baro.device_id = 6620428; // 6620428: DRV_BARO_DEVTYPE_BAROSIM, BUS: 2, ADDR: 4, TYPE: SIMULATION
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pubs[1].publish(sensor_baro);
}
// differential pressure
if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_disconnected) {
const float blockage_fraction = 0.7; // defines max blockage (fully ramped)
const float airspeed_blockage_rampup_time = 1_s; // time it takes to go max blockage, linear ramp
float airspeed_blockage_scale = 1.f;
if (_airspeed_blocked_timestamp > 0) {
airspeed_blockage_scale = math::constrain(1.f - (hrt_absolute_time() - _airspeed_blocked_timestamp) /
airspeed_blockage_rampup_time, 1.f - blockage_fraction, 1.f);
}
differential_pressure_s report{};
report.timestamp_sample = time;
report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
report.differential_pressure_pa = sensors.diff_pressure * 100.f * airspeed_blockage_scale; // hPa to Pa;
report.temperature = _sensors_temperature;
report.timestamp = hrt_absolute_time();
_differential_pressure_pub.publish(report);
}
}
void SimulatorMavlink::handle_message(const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_SENSOR:
handle_message_hil_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
handle_message_optical_flow(msg);
break;
case MAVLINK_MSG_ID_ODOMETRY:
handle_message_odometry(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
handle_message_distance_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
handle_message_rc_channels(msg);
break;
case MAVLINK_MSG_ID_LANDING_TARGET:
handle_message_landing_target(msg);
break;
case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
handle_message_hil_state_quaternion(msg);
break;
case MAVLINK_MSG_ID_RAW_RPM:
mavlink_raw_rpm_t rpm_mavlink;
mavlink_msg_raw_rpm_decode(msg, &rpm_mavlink);
rpm_s rpm_uorb{};
rpm_uorb.timestamp = hrt_absolute_time();
rpm_uorb.rpm_estimate = rpm_mavlink.frequency;
_rpm_pub.publish(rpm_uorb);
break;
}
}
void SimulatorMavlink::handle_message_distance_sensor(const mavlink_message_t *msg)
{
mavlink_distance_sensor_t dist;
mavlink_msg_distance_sensor_decode(msg, &dist);
publish_distance_topic(&dist);
}
void SimulatorMavlink::handle_message_hil_gps(const mavlink_message_t *msg)
{
mavlink_hil_gps_t hil_gps;
mavlink_msg_hil_gps_decode(msg, &hil_gps);
if (!_gps_blocked) {
sensor_gps_s gps{};
if (!_gps_stuck) {
if (!_gps_wrong) {
gps.latitude_deg = hil_gps.lat / 1e7;
gps.longitude_deg = hil_gps.lon / 1e7;
gps.altitude_msl_m = hil_gps.alt / 1e3;
gps.altitude_ellipsoid_m = hil_gps.alt / 1e3;
} else {
gps.latitude_deg = hil_gps.lat / 1e7 + 1.0;
gps.longitude_deg = hil_gps.lon / 1e7 + 1.0;
gps.altitude_msl_m = hil_gps.alt / 1e3 + 100.0;
gps.altitude_ellipsoid_m = hil_gps.alt / 1e3 - 100.0;
}
gps.s_variance_m_s = 0.25f;
gps.c_variance_rad = 0.5f;
gps.fix_type = hil_gps.fix_type;
gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m
gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m
gps.hdop = 0; // TODO
gps.vdop = 0; // TODO
gps.noise_per_ms = 0;
gps.automatic_gain_control = 0;
gps.jamming_indicator = 0;
gps.jamming_state = 0;
gps.spoofing_state = 0;
if (!_gps_wrong) {
gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s
gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s
gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s
} else {
gps.vel_m_s = (float)(hil_gps.vel) / 100.0f - 1.f; // cm/s -> m/s
gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f + 5.f; // cm/s -> m/s
gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f - 8.f; // cm/s -> m/s
gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f + 2.f; // cm/s -> m/s
}
gps.cog_rad = ((hil_gps.cog == 65535) ? NAN : matrix::wrap_2pi(math::radians(hil_gps.cog * 1e-2f))); // cdeg -> rad
gps.vel_ned_valid = true;
gps.timestamp_time_relative = 0;
gps.time_utc_usec = hil_gps.time_usec;
gps.satellites_used = hil_gps.satellites_visible;
gps.heading = NAN;
gps.heading_offset = NAN;
_gps_prev = gps;
} else {
gps = _gps_prev;
}
gps.timestamp = hrt_absolute_time();
// New publishers will be created based on the HIL_GPS ID's being different or not
for (size_t i = 0; i < sizeof(_gps_ids) / sizeof(_gps_ids[0]); i++) {
if (_sensor_gps_pubs[i] && _gps_ids[i] == hil_gps.id) {
_sensor_gps_pubs[i]->publish(gps);
break;
}
if (_sensor_gps_pubs[i] == nullptr) {
_sensor_gps_pubs[i] = new uORB::PublicationMulti<sensor_gps_s> {ORB_ID(sensor_gps)};
_gps_ids[i] = hil_gps.id;
device::Device::DeviceId device_id;
device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
device_id.devid_s.bus = 0;
device_id.devid_s.address = i;
device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
gps.device_id = device_id.devid;
_sensor_gps_pubs[i]->publish(gps);
break;
}
}
}
}
void SimulatorMavlink::handle_message_hil_sensor(const mavlink_message_t *msg)
{
mavlink_hil_sensor_t imu;
mavlink_msg_hil_sensor_decode(msg, &imu);
// Assume imu with id 0 is the primary imu an base lockstep based on this.
if (imu.id == 0) {
if (_lockstep_component == -1) {
_lockstep_component = px4_lockstep_register_component();
}
struct timespec ts;
abstime_to_ts(&ts, imu.time_usec);
px4_clock_settime(CLOCK_MONOTONIC, &ts);
}
hrt_abstime now_us = hrt_absolute_time();
#if 0
// This is just for to debug missing HIL_SENSOR messages.
static hrt_abstime last_time = 0;
hrt_abstime diff = now_us - last_time;
float step = diff / 4000.0f;
if (step > 1.1f || step < 0.9f) {
PX4_INFO("HIL_SENSOR: imu time_usec: %lu, time_usec: %lu, diff: %lu, step: %.2f", imu.time_usec, now_us, diff, step);
}
last_time = now_us;
#endif
update_sensors(now_us, imu);
if (imu.id == 0) {
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
if (!_has_initialized.load()) {
_has_initialized.store(true);
}
#endif
px4_lockstep_progress(_lockstep_component);
}
}
void SimulatorMavlink::handle_message_hil_state_quaternion(const mavlink_message_t *msg)
{
mavlink_hil_state_quaternion_t hil_state;
mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
uint64_t timestamp = hrt_absolute_time();
/* angular velocity */
vehicle_angular_velocity_s hil_angular_velocity{};
{
hil_angular_velocity.timestamp = timestamp;
hil_angular_velocity.xyz[0] = hil_state.rollspeed;
hil_angular_velocity.xyz[1] = hil_state.pitchspeed;
hil_angular_velocity.xyz[2] = hil_state.yawspeed;
// always publish ground truth attitude message
_vehicle_angular_velocity_ground_truth_pub.publish(hil_angular_velocity);
}
/* attitude */
vehicle_attitude_s hil_attitude{};
{
hil_attitude.timestamp = timestamp;
matrix::Quatf q(hil_state.attitude_quaternion);
q.copyTo(hil_attitude.q);
// always publish ground truth attitude message
_attitude_ground_truth_pub.publish(hil_attitude);
}
/* global position */
vehicle_global_position_s hil_gpos{};
{
hil_gpos.timestamp = timestamp;
hil_gpos.lat = hil_state.lat / 1E7;//1E7
hil_gpos.lon = hil_state.lon / 1E7;//1E7
hil_gpos.alt = hil_state.alt / 1E3;//1E3
// always publish ground truth attitude message
_gpos_ground_truth_pub.publish(hil_gpos);
}
/* local position */
vehicle_local_position_s hil_lpos{};
{
hil_lpos.timestamp = timestamp;
double lat = hil_state.lat * 1e-7;
double lon = hil_state.lon * 1e-7;
if (!_global_local_proj_ref.isInitialized()) {
_global_local_proj_ref.initReference(lat, lon, timestamp);
_global_local_alt0 = hil_state.alt / 1000.f;
}
hil_lpos.timestamp = timestamp;
hil_lpos.xy_valid = true;
hil_lpos.z_valid = true;
hil_lpos.v_xy_valid = true;
hil_lpos.v_z_valid = true;
_global_local_proj_ref.project(lat, lon, hil_lpos.x, hil_lpos.y);
hil_lpos.z = _global_local_alt0 - hil_state.alt / 1000.0f;
hil_lpos.vx = hil_state.vx / 100.0f;
hil_lpos.vy = hil_state.vy / 100.0f;
hil_lpos.vz = hil_state.vz / 100.0f;
matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f);
hil_lpos.ax = acc(0);
hil_lpos.ay = acc(1);
hil_lpos.az = acc(2);
hil_lpos.heading = euler.psi();
hil_lpos.xy_global = true;
hil_lpos.z_global = true;
hil_lpos.ref_timestamp = _global_local_proj_ref.getProjectionReferenceTimestamp();
hil_lpos.ref_lat = _global_local_proj_ref.getProjectionReferenceLat();
hil_lpos.ref_lon = _global_local_proj_ref.getProjectionReferenceLon();
hil_lpos.ref_alt = _global_local_alt0;
hil_lpos.vxy_max = std::numeric_limits<float>::infinity();
hil_lpos.vz_max = std::numeric_limits<float>::infinity();
hil_lpos.hagl_min = std::numeric_limits<float>::infinity();
hil_lpos.hagl_max_z = std::numeric_limits<float>::infinity();
hil_lpos.hagl_max_xy = std::numeric_limits<float>::infinity();
// always publish ground truth attitude message
_lpos_ground_truth_pub.publish(hil_lpos);
}
}
void SimulatorMavlink::handle_message_landing_target(const mavlink_message_t *msg)
{
mavlink_landing_target_t landing_target_mavlink;
mavlink_msg_landing_target_decode(msg, &landing_target_mavlink);
if (landing_target_mavlink.position_valid) {
PX4_WARN("Only landing targets relative to captured images are supported");
} else {
irlock_report_s report{};
report.timestamp = hrt_absolute_time();
report.signature = landing_target_mavlink.target_num;
report.pos_x = landing_target_mavlink.angle_x;
report.pos_y = landing_target_mavlink.angle_y;
report.size_x = landing_target_mavlink.size_x;
report.size_y = landing_target_mavlink.size_y;
_irlock_report_pub.publish(report);
}
}
void SimulatorMavlink::handle_message_odometry(const mavlink_message_t *msg)
{
mavlink_odometry_t odom_in;
mavlink_msg_odometry_decode(msg, &odom_in);
// fill vehicle_odometry from Mavlink ODOMETRY
vehicle_odometry_s odom{vehicle_odometry_empty};
odom.timestamp_sample = hrt_absolute_time(); // _mavlink_timesync.sync_stamp(odom_in.time_usec);
// position x/y/z (m)
matrix::Vector3f odom_in_p(odom_in.x, odom_in.y, odom_in.z);
if (odom_in_p.isAllFinite()) {
// frame_id: Coordinate frame of reference for the pose data.
switch (odom_in.frame_id) {
case MAV_FRAME_LOCAL_NED:
// NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED;
odom_in_p.copyTo(odom.position);
break;
case MAV_FRAME_LOCAL_ENU:
// ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED;
odom.position[0] = odom_in.y; // y: North
odom.position[1] = odom_in.x; // x: East
odom.position[2] = -odom_in.z; // z: Up
break;
case MAV_FRAME_LOCAL_FRD:
// FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth.
odom.pose_frame = vehicle_odometry_s::POSE_FRAME_FRD;
odom_in_p.copyTo(odom.position);
break;
case MAV_FRAME_LOCAL_FLU:
// FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth.
odom.pose_frame = vehicle_odometry_s::POSE_FRAME_FRD;
odom.position[0] = odom_in.x; // x: Forward
odom.position[1] = -odom_in.y; // y: Left
odom.position[2] = -odom_in.z; // z: Up
break;
default:
break;
}
// pose_covariance
// Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw)
// first six entries are the first ROW, next five entries are the second ROW, etc.
if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) {
switch (odom_in.frame_id) {
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_FRD:
case MAV_FRAME_LOCAL_FLU:
// position variances copied directly
odom.position_variance[0] = odom_in.pose_covariance[0]; // X row 0, col 0
odom.position_variance[1] = odom_in.pose_covariance[6]; // Y row 1, col 1
odom.position_variance[2] = odom_in.pose_covariance[11]; // Z row 2, col 2
break;
case MAV_FRAME_LOCAL_ENU:
// ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
odom.position_variance[0] = odom_in.pose_covariance[6]; // Y row 1, col 1
odom.position_variance[1] = odom_in.pose_covariance[0]; // X row 0, col 0
odom.position_variance[2] = odom_in.pose_covariance[11]; // Z row 2, col 2
break;
default:
break;
}
}
}
// q: the quaternion of the ODOMETRY msg represents a rotation from body frame to a local frame
if (matrix::Quatf(odom_in.q).isAllFinite()) {
odom.q[0] = odom_in.q[0];
odom.q[1] = odom_in.q[1];
odom.q[2] = odom_in.q[2];
odom.q[3] = odom_in.q[3];
// pose_covariance (roll, pitch, yaw)
// states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.
// TODO: fix pose_covariance for MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FLU
if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) {
odom.orientation_variance[0] = odom_in.pose_covariance[15]; // R row 3, col 3
odom.orientation_variance[1] = odom_in.pose_covariance[18]; // P row 4, col 4
odom.orientation_variance[2] = odom_in.pose_covariance[20]; // Y row 5, col 5
}
}
// velocity vx/vy/vz (m/s)
matrix::Vector3f odom_in_v(odom_in.vx, odom_in.vy, odom_in.vz);
if (odom_in_v.isAllFinite()) {
// child_frame_id: Coordinate frame of reference for the velocity in free space (twist) data.
switch (odom_in.child_frame_id) {
case MAV_FRAME_LOCAL_NED:
// NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED;
odom_in_v.copyTo(odom.velocity);
break;
case MAV_FRAME_LOCAL_ENU:
// ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED;
odom.velocity[0] = odom_in.vy; // y: North
odom.velocity[1] = odom_in.vx; // x: East
odom.velocity[2] = -odom_in.vz; // z: Up
break;
case MAV_FRAME_LOCAL_FRD:
// FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth.
odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_FRD;
odom_in_v.copyTo(odom.velocity);
break;
case MAV_FRAME_LOCAL_FLU:
// FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth.
odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_FRD;
odom.velocity[0] = odom_in.vx; // x: Forward
odom.velocity[1] = -odom_in.vy; // y: Left
odom.velocity[2] = -odom_in.vz; // z: Up
break;
case MAV_FRAME_BODY_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).
case MAV_FRAME_BODY_OFFSET_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).
case MAV_FRAME_BODY_FRD:
// FRD local tangent frame (x: Forward, y: Right, z: Down) with origin that travels with vehicle.
odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_BODY_FRD;
odom_in_v.copyTo(odom.velocity);
break;
default:
// unsupported child_frame_id
break;
}
// velocity_covariance (vx, vy, vz)
// states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.
// TODO: fix velocity_covariance for MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FLU, MAV_FRAME_LOCAL_FLU
if (odom_in.estimator_type != MAV_ESTIMATOR_TYPE_NAIVE) {
switch (odom_in.child_frame_id) {
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_FRD:
case MAV_FRAME_LOCAL_FLU:
case MAV_FRAME_BODY_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).
case MAV_FRAME_BODY_OFFSET_NED: // DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).
case MAV_FRAME_BODY_FRD:
// velocity covariances copied directly
odom.velocity_variance[0] = odom_in.velocity_covariance[0]; // X row 0, col 0
odom.velocity_variance[1] = odom_in.velocity_covariance[6]; // Y row 1, col 1
odom.velocity_variance[2] = odom_in.velocity_covariance[11]; // Z row 2, col 2
break;
case MAV_FRAME_LOCAL_ENU:
// ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
odom.velocity_variance[0] = odom_in.velocity_covariance[6]; // Y row 1, col 1
odom.velocity_variance[1] = odom_in.velocity_covariance[0]; // X row 0, col 0
odom.velocity_variance[2] = odom_in.velocity_covariance[11]; // Z row 2, col 2
break;
default:
// unsupported child_frame_id
break;
}
}
}
// Roll/Pitch/Yaw angular speed (rad/s)
if (PX4_ISFINITE(odom_in.rollspeed)
&& PX4_ISFINITE(odom_in.pitchspeed)
&& PX4_ISFINITE(odom_in.yawspeed)) {
odom.angular_velocity[0] = odom_in.rollspeed;
odom.angular_velocity[1] = odom_in.pitchspeed;
odom.angular_velocity[2] = odom_in.yawspeed;
}
odom.reset_counter = odom_in.reset_counter;
odom.quality = odom_in.quality;
switch (odom_in.estimator_type) {
case MAV_ESTIMATOR_TYPE_UNKNOWN: // accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support
case MAV_ESTIMATOR_TYPE_NAIVE:
case MAV_ESTIMATOR_TYPE_VISION:
case MAV_ESTIMATOR_TYPE_VIO:
if (!_vio_blocked) {
odom.timestamp = hrt_absolute_time();
_visual_odometry_pub.publish(odom);
}
break;
case MAV_ESTIMATOR_TYPE_MOCAP:
odom.timestamp = hrt_absolute_time();
_mocap_odometry_pub.publish(odom);
break;
case MAV_ESTIMATOR_TYPE_GPS:
case MAV_ESTIMATOR_TYPE_GPS_INS:
case MAV_ESTIMATOR_TYPE_LIDAR:
case MAV_ESTIMATOR_TYPE_AUTOPILOT:
default:
PX4_ERR("ODOMETRY: estimator_type %" PRIu8 " unsupported", odom_in.estimator_type);
return;
}
}
void SimulatorMavlink::handle_message_optical_flow(const mavlink_message_t *msg)
{
mavlink_hil_optical_flow_t flow;
mavlink_msg_hil_optical_flow_decode(msg, &flow);
device::Device::DeviceId device_id;
device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK;
device_id.devid_s.bus = 0;
device_id.devid_s.address = msg->sysid;
device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM;
sensor_optical_flow_s sensor_optical_flow{};
sensor_optical_flow.timestamp_sample = hrt_absolute_time();
sensor_optical_flow.device_id = device_id.devid;
sensor_optical_flow.pixel_flow[0] = flow.integrated_x;
sensor_optical_flow.pixel_flow[1] = flow.integrated_y;
sensor_optical_flow.integration_timespan_us = flow.integration_time_us;
sensor_optical_flow.quality = flow.quality;
matrix::Vector3f integrated_gyro(flow.integrated_xgyro, flow.integrated_ygyro, flow.integrated_zgyro);
if (integrated_gyro.isAllFinite()) {
integrated_gyro.copyTo(sensor_optical_flow.delta_angle);
sensor_optical_flow.delta_angle_available = true;
}
sensor_optical_flow.max_flow_rate = NAN;
sensor_optical_flow.min_ground_distance = NAN;
sensor_optical_flow.max_ground_distance = NAN;
// Use distance value for distance sensor topic
if (PX4_ISFINITE(flow.distance) && (flow.distance >= 0.f)) {
// Positive value (including zero): distance known. Negative value: Unknown distance.
sensor_optical_flow.distance_m = flow.distance;
sensor_optical_flow.distance_available = true;
}
sensor_optical_flow.timestamp = hrt_absolute_time();
_sensor_optical_flow_pub.publish(sensor_optical_flow);
}
void SimulatorMavlink::handle_message_rc_channels(const mavlink_message_t *msg)
{
mavlink_rc_channels_t rc_channels;
mavlink_msg_rc_channels_decode(msg, &rc_channels);
input_rc_s rc_input{};
rc_input.timestamp_last_signal = hrt_absolute_time();
rc_input.channel_count = rc_channels.chancount;
rc_input.rssi = rc_channels.rssi;
rc_input.values[0] = rc_channels.chan1_raw;
rc_input.values[1] = rc_channels.chan2_raw;
rc_input.values[2] = rc_channels.chan3_raw;
rc_input.values[3] = rc_channels.chan4_raw;
rc_input.values[4] = rc_channels.chan5_raw;
rc_input.values[5] = rc_channels.chan6_raw;
rc_input.values[6] = rc_channels.chan7_raw;
rc_input.values[7] = rc_channels.chan8_raw;
rc_input.values[8] = rc_channels.chan9_raw;
rc_input.values[9] = rc_channels.chan10_raw;
rc_input.values[10] = rc_channels.chan11_raw;
rc_input.values[11] = rc_channels.chan12_raw;
rc_input.values[12] = rc_channels.chan13_raw;
rc_input.values[13] = rc_channels.chan14_raw;
rc_input.values[14] = rc_channels.chan15_raw;
rc_input.values[15] = rc_channels.chan16_raw;
rc_input.values[16] = rc_channels.chan17_raw;
rc_input.values[17] = rc_channels.chan18_raw;
rc_input.link_quality = -1;
rc_input.rssi_dbm = NAN;
rc_input.timestamp = hrt_absolute_time();
// publish message
_input_rc_pub.publish(rc_input);
}
void SimulatorMavlink::handle_message_vision_position_estimate(const mavlink_message_t *msg)
{
mavlink_vision_position_estimate_t vpe;
mavlink_msg_vision_position_estimate_decode(msg, &vpe);
// fill vehicle_odometry from Mavlink VISION_POSITION_ESTIMATE
vehicle_odometry_s odom{vehicle_odometry_empty};
odom.timestamp_sample = hrt_absolute_time(); // _mavlink_timesync.sync_stamp(vpe.usec);
odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED;
odom.position[0] = vpe.x;
odom.position[1] = vpe.y;
odom.position[2] = vpe.z;
const matrix::Quatf q(matrix::Eulerf(vpe.roll, vpe.pitch, vpe.yaw));
q.copyTo(odom.q);
// VISION_POSITION_ESTIMATE covariance
// Row-major representation of pose 6x6 cross-covariance matrix upper right triangle
// (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.).
// If unknown, assign NaN value to first element in the array.
odom.position_variance[0] = vpe.covariance[0]; // X row 0, col 0
odom.position_variance[1] = vpe.covariance[6]; // Y row 1, col 1
odom.position_variance[2] = vpe.covariance[11]; // Z row 2, col 2
odom.orientation_variance[0] = vpe.covariance[15]; // R row 3, col 3
odom.orientation_variance[1] = vpe.covariance[18]; // P row 4, col 4
odom.orientation_variance[2] = vpe.covariance[20]; // Y row 5, col 5
odom.reset_counter = vpe.reset_counter;
odom.timestamp = hrt_absolute_time();
_visual_odometry_pub.publish(odom);
}
void SimulatorMavlink::send_mavlink_message(const mavlink_message_t &aMsg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t bufLen = 0;
bufLen = mavlink_msg_to_send_buffer(buf, &aMsg);
ssize_t len;
if (_ip == InternetProtocol::UDP) {
len = ::sendto(_fd, buf, bufLen, 0, (struct sockaddr *)&_srcaddr, sizeof(_srcaddr));
} else {
len = ::send(_fd, buf, bufLen, 0);
}
if (len <= 0) {
PX4_WARN("Failed sending mavlink message: %s", strerror(errno));
}
}
void *SimulatorMavlink::sending_trampoline(void * /*unused*/)
{
_instance->send();
return nullptr;
}
void SimulatorMavlink::send()
{
#ifdef __PX4_DARWIN
pthread_setname_np("sim_send");
#else
pthread_setname_np(pthread_self(), "sim_send");
#endif
// Subscribe to topics.
// Only subscribe to the first actuator_outputs to fill a single HIL_ACTUATOR_CONTROLS.
_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs_sim), 0);
// Before starting, we ought to send a heartbeat to initiate the SITL
// simulator to start sending sensor data which will set the time and
// get everything rolling.
// Without this, we get stuck at px4_poll which waits for a time update.
send_heartbeat();
px4_pollfd_struct_t fds_actuator_outputs[1] = {};
fds_actuator_outputs[0].fd = _actuator_outputs_sub;
fds_actuator_outputs[0].events = POLLIN;
while (true) {
// Wait for up to 100ms for data.
int pret = px4_poll(&fds_actuator_outputs[0], 1, 100);
if (pret == 0) {
// Timed out, try again.
continue;
}
if (pret < 0) {
PX4_ERR("poll error %s", strerror(errno));
continue;
}
if (fds_actuator_outputs[0].revents & POLLIN) {
// Got new data to read, update all topics.
parameters_update(false);
check_failure_injections();
_vehicle_status_sub.update(&_vehicle_status);
_battery_status_sub.update(&_battery_status);
// Wait for other modules, such as logger or ekf2
px4_lockstep_wait_for_components();
send_controls();
}
}
orb_unsubscribe(_actuator_outputs_sub);
}
void SimulatorMavlink::request_hil_state_quaternion()
{
mavlink_command_long_t cmd_long = {};
mavlink_message_t message = {};
cmd_long.command = MAV_CMD_SET_MESSAGE_INTERVAL;
cmd_long.param1 = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
cmd_long.param2 = 5e3;
mavlink_msg_command_long_encode(_param_mav_sys_id.get(), _param_mav_comp_id.get(), &message, &cmd_long);
send_mavlink_message(message);
}
void SimulatorMavlink::send_heartbeat()
{
mavlink_heartbeat_t hb = {};
mavlink_message_t message = {};
hb.autopilot = 12;
hb.base_mode |= (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 128 : 0;
mavlink_msg_heartbeat_encode(_param_mav_sys_id.get(), _param_mav_comp_id.get(), &message, &hb);
send_mavlink_message(message);
}
void SimulatorMavlink::run()
{
#ifdef __PX4_DARWIN
pthread_setname_np("sim_rcv");
#else
pthread_setname_np(pthread_self(), "sim_rcv");
#endif
struct sockaddr_in _myaddr {};
_myaddr.sin_family = AF_INET;
_myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
_myaddr.sin_port = htons(_port);
if (_tcp_remote_ipaddr != nullptr) {
_myaddr.sin_addr.s_addr = inet_addr(_tcp_remote_ipaddr);
} else if (!_hostname.empty()) {
/* resolve hostname */
struct hostent *host;
host = gethostbyname(_hostname.c_str());
memcpy(&_myaddr.sin_addr, host->h_addr_list[0], host->h_length);
char ip[30];
strcpy(ip, (char *)inet_ntoa((struct in_addr)_myaddr.sin_addr));
PX4_INFO("Resolved host '%s' to address: %s", _hostname.c_str(), ip);
}
if (_ip == InternetProtocol::UDP) {
if ((_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
PX4_ERR("Creating UDP socket failed: %s", strerror(errno));
return;
}
if (bind(_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) {
PX4_ERR("bind for UDP port %i failed (%i)", _port, errno);
::close(_fd);
return;
}
PX4_INFO("Waiting for simulator to connect on UDP port %u", _port);
while (true) {
// Once we receive something, we're most probably good and can carry on.
int len = ::recvfrom(_fd, _buf, sizeof(_buf), 0,
(struct sockaddr *)&_srcaddr, (socklen_t *)&_addrlen);
if (len > 0) {
break;
} else {
system_usleep(500);
}
}
PX4_INFO("Simulator connected on UDP port %u.", _port);
} else {
PX4_INFO("Waiting for simulator to accept connection on TCP port %u", _port);
while (true) {
if ((_fd = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
PX4_ERR("Creating TCP socket failed: %s", strerror(errno));
return;
}
int yes = 1;
int ret = setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, (char *) &yes, sizeof(int));
if (ret != 0) {
PX4_ERR("setsockopt failed: %s", strerror(errno));
}
socklen_t myaddr_len = sizeof(_myaddr);
ret = connect(_fd, (struct sockaddr *)&_myaddr, myaddr_len);
if (ret == 0) {
break;
} else {
::close(_fd);
system_usleep(500);
}
}
PX4_INFO("Simulator connected on TCP port %u.", _port);
}
// Create a thread for sending data to the simulator.
pthread_t sender_thread;
pthread_attr_t sender_thread_attr;
pthread_attr_init(&sender_thread_attr);
pthread_attr_setstacksize(&sender_thread_attr, PX4_STACK_ADJUSTED(8000));
struct sched_param param;
(void)pthread_attr_getschedparam(&sender_thread_attr, &param);
// sender thread should run immediately after new outputs are available
// to send the lockstep update to the simulation
param.sched_priority = SCHED_PRIORITY_ACTUATOR_OUTPUTS + 1;
(void)pthread_attr_setschedparam(&sender_thread_attr, &param);
struct pollfd fds[2] = {};
unsigned fd_count = 1;
fds[0].fd = _fd;
fds[0].events = POLLIN;
// got data from simulator, now activate the sending thread
pthread_create(&sender_thread, &sender_thread_attr, SimulatorMavlink::sending_trampoline, nullptr);
pthread_attr_destroy(&sender_thread_attr);
mavlink_status_t mavlink_status = {};
// Request HIL_STATE_QUATERNION for ground truth.
request_hil_state_quaternion();
while (true) {
// wait for new mavlink messages to arrive
int pret = ::poll(&fds[0], fd_count, 1000);
if (pret == 0) {
// Timed out.
PX4_ERR("poll timeout %d, %d", pret, errno);
continue;
}
if (pret < 0) {
PX4_ERR("poll error %d, %d", pret, errno);
continue;
}
if (fds[0].revents & POLLIN) {
int len = ::recvfrom(_fd, _buf, sizeof(_buf), 0, (struct sockaddr *)&_srcaddr, (socklen_t *)&_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, &mavlink_status)) {
handle_message(&msg);
}
}
}
}
}
}
void SimulatorMavlink::check_failure_injections()
{
vehicle_command_s vehicle_command;
while (_vehicle_command_sub.update(&vehicle_command)) {
if (vehicle_command.command != vehicle_command_s::VEHICLE_CMD_INJECT_FAILURE) {
continue;
}
bool handled = false;
bool supported = false;
const int failure_unit = static_cast<int>(vehicle_command.param1 + 0.5f);
const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
const int instance = static_cast<int>(vehicle_command.param3 + 0.5f);
if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_GPS) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
PX4_WARN("CMD_INJECT_FAILURE, GPS off");
supported = true;
_gps_blocked = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
PX4_INFO("CMD_INJECT_FAILURE, GPS ok");
supported = true;
_gps_blocked = false;
_gps_stuck = false;
_gps_wrong = false;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
supported = true;
_gps_stuck = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_WRONG) {
supported = true;
_gps_wrong = true;
}
} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_ACCEL) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < ACCEL_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, accel %d off", i);
_accel_blocked[i] = true;
_accel_stuck[i] = false;
}
} else if (instance >= 1 && instance <= ACCEL_COUNT_MAX) {
PX4_WARN("CMD_INJECT_FAILURE, accel %d off", instance - 1);
_accel_blocked[instance - 1] = true;
_accel_stuck[instance - 1] = false;
}
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < ACCEL_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, accel %d stuck", i);
_accel_blocked[i] = false;
_accel_stuck[i] = true;
}
} else if (instance >= 1 && instance <= ACCEL_COUNT_MAX) {
PX4_WARN("CMD_INJECT_FAILURE, accel %d stuck", instance - 1);
_accel_blocked[instance - 1] = false;
_accel_stuck[instance - 1] = true;
}
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < ACCEL_COUNT_MAX; i++) {
PX4_INFO("CMD_INJECT_FAILURE, accel %d ok", i);
_accel_blocked[i] = false;
_accel_stuck[i] = false;
}
} else if (instance >= 1 && instance <= ACCEL_COUNT_MAX) {
PX4_INFO("CMD_INJECT_FAILURE, accel %d ok", instance - 1);
_accel_blocked[instance - 1] = false;
_accel_stuck[instance - 1] = false;
}
}
} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_GYRO) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < GYRO_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, gyro %d off", i);
_gyro_blocked[i] = true;
_gyro_stuck[i] = false;
}
} else if (instance >= 1 && instance <= GYRO_COUNT_MAX) {
PX4_WARN("CMD_INJECT_FAILURE, gyro %d off", instance - 1);
_gyro_blocked[instance - 1] = true;
_gyro_stuck[instance - 1] = false;
}
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < GYRO_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, gyro %d stuck", i);
_gyro_blocked[i] = false;
_gyro_stuck[i] = true;
}
} else if (instance >= 1 && instance <= GYRO_COUNT_MAX) {
PX4_INFO("CMD_INJECT_FAILURE, gyro %d stuck", instance - 1);
_gyro_blocked[instance - 1] = false;
_gyro_stuck[instance - 1] = true;
}
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < GYRO_COUNT_MAX; i++) {
PX4_INFO("CMD_INJECT_FAILURE, gyro %d ok", i);
_gyro_blocked[i] = false;
_gyro_stuck[i] = false;
}
} else if (instance >= 1 && instance <= GYRO_COUNT_MAX) {
PX4_INFO("CMD_INJECT_FAILURE, gyro %d ok", instance - 1);
_gyro_blocked[instance - 1] = false;
_gyro_stuck[instance - 1] = false;
}
}
} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_MAG) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < MAG_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, mag %d off", i);
_mag_blocked[i] = true;
_mag_stuck[i] = false;
}
} else if (instance >= 1 && instance <= MAG_COUNT_MAX) {
PX4_WARN("CMD_INJECT_FAILURE, mag %d off", instance - 1);
_mag_blocked[instance - 1] = true;
_mag_stuck[instance - 1] = false;
}
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < MAG_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, mag %d stuck", i);
_mag_blocked[i] = false;
_mag_stuck[i] = true;
}
} else if (instance >= 1 && instance <= MAG_COUNT_MAX) {
PX4_WARN("CMD_INJECT_FAILURE, mag %d stuck", instance - 1);
_mag_blocked[instance - 1] = false;
_mag_stuck[instance - 1] = true;
}
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
supported = true;
// 0 to signal all
if (instance == 0) {
for (int i = 0; i < MAG_COUNT_MAX; i++) {
PX4_WARN("CMD_INJECT_FAILURE, mag %d ok", i);
_mag_blocked[i] = false;
_mag_stuck[i] = false;
}
} else if (instance >= 1 && instance <= MAG_COUNT_MAX) {
PX4_WARN("CMD_INJECT_FAILURE, mag %d ok", instance - 1);
_mag_blocked[instance - 1] = false;
_mag_stuck[instance - 1] = false;
}
}
} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_BARO) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
PX4_WARN("CMD_INJECT_FAILURE, baro off");
supported = true;
_baro_blocked = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_STUCK) {
PX4_WARN("CMD_INJECT_FAILURE, baro stuck");
supported = true;
_baro_stuck = true;
_baro_blocked = false;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
PX4_INFO("CMD_INJECT_FAILURE, baro ok");
supported = true;
_baro_blocked = false;
}
} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_AIRSPEED) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
PX4_WARN("CMD_INJECT_FAILURE, airspeed off");
supported = true;
_airspeed_disconnected = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_WRONG) {
PX4_WARN("CMD_INJECT_FAILURE, airspeed wrong (simulate pitot blockage)");
supported = true;
_airspeed_blocked_timestamp = hrt_absolute_time();
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
PX4_INFO("CMD_INJECT_FAILURE, airspeed ok");
supported = true;
_airspeed_disconnected = false;
_airspeed_blocked_timestamp = 0;
}
} else if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_VIO) {
handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
PX4_WARN("CMD_INJECT_FAILURE, vio off");
supported = true;
_vio_blocked = true;
} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
PX4_INFO("CMD_INJECT_FAILURE, vio ok");
supported = true;
_vio_blocked = false;
}
}
if (handled) {
vehicle_command_ack_s ack{};
ack.command = vehicle_command.command;
ack.from_external = false;
ack.result = supported ?
vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED :
vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
ack.timestamp = hrt_absolute_time();
_command_ack_pub.publish(ack);
}
}
}
int SimulatorMavlink::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavlink)
{
distance_sensor_s dist{};
dist.timestamp = hrt_absolute_time();
dist.min_distance = dist_mavlink->min_distance / 100.0f;
dist.max_distance = dist_mavlink->max_distance / 100.0f;
dist.current_distance = dist_mavlink->current_distance / 100.0f;
dist.type = dist_mavlink->type;
dist.variance = dist_mavlink->covariance * 1e-4f; // cm^2 to m^2
device::Device::DeviceId device_id {};
device_id.devid_s.bus_type = device::Device::DeviceBusType_SIMULATION;
device_id.devid_s.address = dist_mavlink->id;
device_id.devid_s.devtype = DRV_DIST_DEVTYPE_SIM;
dist.device_id = device_id.devid;
// MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown
// quality value. Also it comes normalised between 1 and 100 while the uORB
// signal quality is normalised between 0 and 100.
dist.signal_quality = dist_mavlink->signal_quality == 0 ? -1 : 100 * (dist_mavlink->signal_quality - 1) / 99;
switch (dist_mavlink->orientation) {
case MAV_SENSOR_ORIENTATION::MAV_SENSOR_ROTATION_PITCH_270:
dist.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
break;
case MAV_SENSOR_ORIENTATION::MAV_SENSOR_ROTATION_PITCH_90:
dist.orientation = distance_sensor_s::ROTATION_UPWARD_FACING;
break;
case MAV_SENSOR_ORIENTATION::MAV_SENSOR_ROTATION_PITCH_180:
dist.orientation = distance_sensor_s::ROTATION_BACKWARD_FACING;
break;
case MAV_SENSOR_ORIENTATION::MAV_SENSOR_ROTATION_NONE:
dist.orientation = distance_sensor_s::ROTATION_FORWARD_FACING;
break;
case MAV_SENSOR_ORIENTATION::MAV_SENSOR_ROTATION_YAW_270:
dist.orientation = distance_sensor_s::ROTATION_LEFT_FACING;
break;
case MAV_SENSOR_ORIENTATION::MAV_SENSOR_ROTATION_YAW_90:
dist.orientation = distance_sensor_s::ROTATION_RIGHT_FACING;
break;
default:
dist.orientation = distance_sensor_s::ROTATION_CUSTOM;
}
dist.h_fov = dist_mavlink->horizontal_fov;
dist.v_fov = dist_mavlink->vertical_fov;
dist.q[0] = dist_mavlink->quaternion[0];
dist.q[1] = dist_mavlink->quaternion[1];
dist.q[2] = dist_mavlink->quaternion[2];
dist.q[3] = dist_mavlink->quaternion[3];
// New publishers will be created based on the sensor ID's being different or not
for (size_t i = 0; i < sizeof(_dist_sensor_ids) / sizeof(_dist_sensor_ids[0]); i++) {
if (_dist_pubs[i] && _dist_sensor_ids[i] == dist.device_id) {
_dist_pubs[i]->publish(dist);
break;
}
if (_dist_pubs[i] == nullptr) {
_dist_pubs[i] = new uORB::PublicationMulti<distance_sensor_s> {ORB_ID(distance_sensor)};
_dist_sensor_ids[i] = dist.device_id;
_dist_pubs[i]->publish(dist);
break;
}
}
return PX4_OK;
}
int SimulatorMavlink::start(int argc, char *argv[])
{
_instance = new SimulatorMavlink();
if (_instance) {
if (argc == 5 && strcmp(argv[3], "-u") == 0) {
_instance->set_ip(InternetProtocol::UDP);
_instance->set_port(atoi(argv[4]));
}
if (argc == 5 && strcmp(argv[3], "-c") == 0) {
_instance->set_ip(InternetProtocol::TCP);
_instance->set_port(atoi(argv[4]));
}
if (argc == 6 && strcmp(argv[3], "-t") == 0) {
PX4_INFO("using TCP on remote host %s port %s", argv[4], argv[5]);
PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
_instance->set_ip(InternetProtocol::TCP);
_instance->set_tcp_remote_ipaddr(argv[4]);
_instance->set_port(atoi(argv[5]));
}
if (argc == 6 && strcmp(argv[3], "-h") == 0) {
PX4_INFO("using TCP on remote host %s port %s", argv[4], argv[5]);
PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
_instance->set_ip(InternetProtocol::TCP);
_instance->set_hostname(argv[4]);
_instance->set_port(atoi(argv[5]));
}
_instance->run();
return 0;
} else {
PX4_WARN("creation failed");
return 1;
}
}
static void usage()
{
PX4_INFO("Usage: simulator_mavlink {start -[spt] [-u udp_port / -c tcp_port] |stop|status}");
PX4_INFO("Start simulator: simulator_mavlink start");
PX4_INFO("Connect using UDP: simulator_mavlink start -u udp_port");
PX4_INFO("Connect using TCP: simulator_mavlink start -c tcp_port");
PX4_INFO("Connect to a remote server using TCP: simulator_mavlink start -t ip_addr tcp_port");
PX4_INFO("Connect to a remote server via hostname using TCP: simulator_mavlink start -h hostname tcp_port");
}
__BEGIN_DECLS
extern int simulator_mavlink_main(int argc, char *argv[]);
__END_DECLS
int simulator_mavlink_main(int argc, char *argv[])
{
if (argc > 1 && strcmp(argv[1], "start") == 0) {
if (g_sim_task >= 0) {
PX4_WARN("Simulator already started");
return 0;
}
g_sim_task = px4_task_spawn_cmd("simulator_mavlink",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
1500,
SimulatorMavlink::start,
argv);
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
// We want to prevent the rest of the startup script from running until time
// is initialized by the HIL_SENSOR messages from the simulator.
while (true) {
if (SimulatorMavlink::getInstance() && SimulatorMavlink::getInstance()->has_initialized()) {
break;
}
system_usleep(100);
}
#endif
} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
if (g_sim_task < 0) {
PX4_WARN("Simulator not running");
return 1;
} else {
px4_task_delete(g_sim_task);
px4_task_join(g_sim_task);
g_sim_task = -1;
}
} else if (argc == 2 && strcmp(argv[1], "status") == 0) {
if (g_sim_task < 0) {
PX4_WARN("Simulator not running");
return 1;
} else {
PX4_INFO("running");
}
} else {
usage();
return 1;
}
return 0;
}
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