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64 lines
1.2 KiB
64 lines
1.2 KiB
3 years ago
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// Created by asa on 9/23/21.
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//
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//usage:
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//PARAMS:
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// AHRS_EKF_TYPE = 11
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// EAHRS_TYPE = 2
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// SERIAL4_PROTOCOL = 36
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// SERIAL4_BAUD = 115
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// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:LORD
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//debugging:
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//echo 0 | sudo tee /proc/sys/kernel/yama/ptrace_scope
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//sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:LORD
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//then just attach to process and set breakpoints in AP_InertialSensor_SITL to look at raw stat variables
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#pragma once
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#include "SIM_Aircraft.h"
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#include <SITL/SITL.h>
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#include "SIM_SerialDevice.h"
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namespace SITL
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{
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class LORD : public SerialDevice
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{
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public:
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LORD();
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// update state
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void update(void);
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private:
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struct LORD_Packet {
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uint8_t header[4];
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uint8_t payload[256];
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uint8_t checksum[2];
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size_t payload_size = 0;
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};
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uint32_t last_imu_pkt_us;
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uint32_t last_gnss_pkt_us;
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uint32_t last_filter_pkt_us;
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void generate_checksum(LORD_Packet&);
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void send_packet(LORD_Packet);
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void send_imu_packet();
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void send_gnss_packet();
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void send_filter_packet();
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void put_float(LORD_Packet&, float);
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void put_double(LORD_Packet&, double);
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void put_int(LORD_Packet&, uint16_t);
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uint64_t start_us;
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};
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}
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