mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 05:50:34 +08:00
kamilritz
115 lines
3.8 KiB
C++
115 lines
3.8 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 ECL 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* This class is providing methods to feed the ECL EKF with measurement.
|
|
* It takes a pointer to the Ekf object and will manipulate the object
|
|
* by call set*Data functions.
|
|
* It simulates the time to allow for sensor data being set at certain rate
|
|
* and also calls the update method of the EKF
|
|
* @author Kamil Ritz <ka.ritz@hotmail.com>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "EKF/ekf.h"
|
|
#include <math.h>
|
|
|
|
|
|
namespace simulator
|
|
{
|
|
|
|
class SensorSimulator
|
|
{
|
|
public:
|
|
SensorSimulator(Ekf* ekf);
|
|
~SensorSimulator();
|
|
|
|
void update_with_const_sensors(uint32_t duration_us,
|
|
Vector3f ang_vel = Vector3f{0.0f,0.0f,0.0f},
|
|
Vector3f accel = Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
|
|
Vector3f mag_data = Vector3f{0.2f, 0.0f, 0.4f},
|
|
float baro_data = 122.2f);
|
|
|
|
void setGpsFusionTrue(){ _fuse_gps = true; }
|
|
void setGpsFusionFalse(){ _fuse_gps = false; }
|
|
|
|
private:
|
|
Ekf* _ekf;
|
|
|
|
// current time
|
|
uint32_t _t_us{0};
|
|
|
|
// Basics sensors
|
|
const uint32_t _imu_dt_us{4000}; // 250 Hz Period between IMU updates
|
|
const uint32_t _baro_dt_us{12500}; // 80 Hz Period between barometer updates
|
|
const uint32_t _mag_dt_us{12500}; // 80 Hz Period between magnetometer updates
|
|
const uint32_t _gps_dt_us{200000}; // 5 Hz Period between GPS updates
|
|
// const uint32_t _flow_dt_us{20000}; // 50 Hz Period between Flow updates
|
|
// const uint32_t _ev_dt_us{40000}; // 25 Hz Period between external vision updates
|
|
|
|
uint32_t _update_dt_us{}; // greatest common divider of all basic sensor periods
|
|
|
|
|
|
// Flags that control if a sensor is fused
|
|
bool _fuse_imu{true};
|
|
bool _fuse_baro{true};
|
|
bool _fuse_mag{true};
|
|
// Not expected to be fused from beginning
|
|
bool _fuse_gps{false};
|
|
// bool _fuse_flow{false};
|
|
// bool _fuse_ev{false};
|
|
|
|
gps_message _gps_message{};
|
|
|
|
// used for debugging until now, replace with tests
|
|
// counter of how many sensor measurement are put into Ekf
|
|
uint32_t _counter_imu{0};
|
|
uint32_t _counter_baro{0};
|
|
uint32_t _counter_mag{0};
|
|
|
|
|
|
void setGpsMessageToDefaul();
|
|
|
|
|
|
|
|
};
|
|
|
|
// Compute greatest common divider
|
|
inline uint32_t gcd(uint32_t a, uint32_t b)
|
|
{
|
|
return b == 0 ? a : gcd(b, a % b);
|
|
}
|
|
|
|
} // end of namespace
|