You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
93 lines
2.4 KiB
93 lines
2.4 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
simulator connection for Scrimmage Simulator |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL_Boards.h> |
|
|
|
#ifndef HAL_SIM_SCRIMMAGE_ENABLED |
|
#define HAL_SIM_SCRIMMAGE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) |
|
#endif |
|
|
|
#if HAL_SIM_SCRIMMAGE_ENABLED |
|
|
|
#include <string> |
|
|
|
#include <AP_HAL/utility/Socket.h> |
|
|
|
#include "SIM_Aircraft.h" |
|
|
|
namespace SITL { |
|
|
|
/* |
|
a last_letter simulator |
|
*/ |
|
class Scrimmage : public Aircraft { |
|
public: |
|
Scrimmage(const char *frame_str); |
|
|
|
/* update model by one time step */ |
|
void update(const struct sitl_input &input) override; |
|
|
|
/* static object creator */ |
|
static Aircraft *create(const char *frame_str) { |
|
return new Scrimmage(frame_str); |
|
} |
|
|
|
/* Create and set in/out socket for extenal simulator */ |
|
void set_interface_ports(const char* address, const int port_in, const int port_out) override; |
|
|
|
private: |
|
uint16_t fdm_port_in; |
|
uint16_t fdm_port_out; |
|
const char* fdm_address; |
|
|
|
/* |
|
packet sent to Scrimmage from ArduPilot |
|
*/ |
|
static const int MAX_NUM_SERVOS = 16; |
|
struct servo_packet { |
|
uint16_t servos[MAX_NUM_SERVOS]; |
|
}; |
|
|
|
/* |
|
state packet sent from Scrimmage to ArduPilot |
|
*/ |
|
struct fdm_packet { |
|
uint64_t timestamp_us; // simulation time in microseconds |
|
double latitude, longitude; |
|
double altitude; |
|
double heading; |
|
double speedN, speedE, speedD; |
|
double xAccel, yAccel, zAccel; |
|
double rollRate, pitchRate, yawRate; |
|
double roll, pitch, yaw; |
|
double airspeed; |
|
}; |
|
|
|
void recv_fdm(const struct sitl_input &input); |
|
void send_servos(const struct sitl_input &input); |
|
|
|
uint64_t prev_timestamp_us; |
|
SocketAPM recv_sock; |
|
SocketAPM send_sock; |
|
}; |
|
|
|
} // namespace SITL |
|
|
|
#endif // HAL_SIM_SCRIMMAGE_ENABLED
|
|
|