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80 lines
1.9 KiB
80 lines
1.9 KiB
/* |
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SITL handling |
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This simulates a compass |
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Andrew Tridgell November 2011 |
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*/ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
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#include <AP_HAL_AVR.h> |
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#include <AP_HAL_AVR_SITL.h> |
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#include "AP_HAL_AVR_SITL_Namespace.h" |
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#include "HAL_AVR_SITL_Class.h" |
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#include <AP_Math.h> |
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#include "../AP_Compass/AP_Compass.h" |
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#include "../AP_Declination/AP_Declination.h" |
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#include "../SITL/SITL.h" |
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using namespace AVR_SITL; |
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#define MAG_OFS_X 5.0 |
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#define MAG_OFS_Y 13.0 |
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#define MAG_OFS_Z -18.0 |
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// inclination in Canberra (degrees) |
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#define MAG_INCLINATION -66 |
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// magnetic field strength in Canberra as observed |
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// using an APM1 with 5883L compass |
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#define MAG_FIELD_STRENGTH 818 |
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/* |
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given a magnetic heading, and roll, pitch, yaw values, |
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calculate consistent magnetometer components |
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All angles are in radians |
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*/ |
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Vector3f SITL_State::_heading_to_mag(float roll, float pitch, float yaw) |
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{ |
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Vector3f Bearth, m; |
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Matrix3f R; |
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float declination = AP_Declination::get_declination(_sitl->state.latitude, _sitl->state.longitude); |
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// Bearth is the magnetic field in Canberra. We need to adjust |
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// it for inclination and declination |
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Bearth(MAG_FIELD_STRENGTH, 0, 0); |
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R.from_euler(0, -ToRad(MAG_INCLINATION), ToRad(declination)); |
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Bearth = R * Bearth; |
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// create a rotation matrix for the given attitude |
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R.from_euler(roll, pitch, yaw); |
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// convert the earth frame magnetic vector to body frame, and |
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// apply the offsets |
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m = R.transposed() * Bearth - Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z); |
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return m + (_rand_vec3f() * _sitl->mag_noise); |
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} |
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/* |
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setup the compass with new input |
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all inputs are in degrees |
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*/ |
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void SITL_State::_update_compass(float roll, float pitch, float yaw) |
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{ |
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if (_compass == NULL) { |
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// no compass in this sketch |
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return; |
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} |
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Vector3f m = _heading_to_mag(ToRad(roll), |
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ToRad(pitch), |
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ToRad(yaw)); |
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_compass->setHIL(m.x, m.y, m.z); |
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} |
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#endif
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