simulator: add standalone sensor_mag_sim module

src/modules/simulator/CMakeLists.txt

@@ -72,3 +72,4 @@ px4_add_module(
 target_include_directories(modules__simulator INTERFACE ${CMAKE_BINARY_DIR}/mavlink)
 
 add_subdirectory(battery_simulator)
+add_subdirectory(sensor_mag_sim)

src/modules/simulator/sensor_mag_sim/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__simulator__sensor_mag_sim
+	MAIN sensor_mag_sim
+	COMPILE_FLAGS
+	SRCS
+		SensorMagSim.cpp
+		SensorMagSim.hpp
+	DEPENDS
+		drivers_magnetometer
+		geo
+		px4_work_queue
+	)

src/modules/simulator/sensor_mag_sim/SensorMagSim.cpp

@@ -0,0 +1,195 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "SensorMagSim.hpp"
+
+#include <drivers/drv_sensor.h>
+#include <lib/world_magnetic_model/geo_mag_declination.h>
+
+using namespace matrix;
+
+SensorMagSim::SensorMagSim() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+	_px4_mag.set_device_type(DRV_MAG_DEVTYPE_MAGSIM);
+	_px4_mag.set_external(false);
+}
+
+SensorMagSim::~SensorMagSim()
+{
+	perf_free(_loop_perf);
+}
+
+bool SensorMagSim::init()
+{
+	ScheduleOnInterval(20_ms); // 50 Hz
+	return true;
+}
+
+float SensorMagSim::generate_wgn()
+{
+	// generate white Gaussian noise sample with std=1
+
+	// algorithm 1:
+	// float temp=((float)(rand()+1))/(((float)RAND_MAX+1.0f));
+	// return sqrtf(-2.0f*logf(temp))*cosf(2.0f*M_PI_F*rand()/RAND_MAX);
+	// algorithm 2: from BlockRandGauss.hpp
+	static float V1, V2, S;
+	static bool phase = true;
+	float X;
+
+	if (phase) {
+		do {
+			float U1 = (float)rand() / RAND_MAX;
+			float U2 = (float)rand() / RAND_MAX;
+			V1 = 2.0f * U1 - 1.0f;
+			V2 = 2.0f * U2 - 1.0f;
+			S = V1 * V1 + V2 * V2;
+		} while (S >= 1.0f || fabsf(S) < 1e-8f);
+
+		X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));
+
+	} else {
+		X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
+	}
+
+	phase = !phase;
+	return X;
+}
+
+void SensorMagSim::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+
+	// Check if parameters have changed
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		updateParams();
+	}
+
+	if (_vehicle_global_position_sub.updated()) {
+		vehicle_global_position_s gpos;
+
+		if (_vehicle_global_position_sub.copy(&gpos)) {
+			if (gpos.eph < 1000) {
+
+				// magnetic field data returned by the geo library using the current GPS position
+				const float mag_declination_gps = get_mag_declination_radians(gpos.lat, gpos.lon);
+				const float mag_inclination_gps = get_mag_inclination_radians(gpos.lat, gpos.lon);
+				const float mag_strength_gps = get_mag_strength_gauss(gpos.lat, gpos.lon);
+
+				_mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0);
+
+				_mag_earth_available = true;
+			}
+		}
+	}
+
+	if (_mag_earth_available) {
+		vehicle_attitude_s attitude;
+
+		if (_vehicle_attitude_sub.update(&attitude)) {
+			Vector3f expected_field = Dcmf{Quatf{attitude.q}} .transpose() * _mag_earth_pred;
+
+			expected_field += noiseGauss3f(0.02f, 0.02f, 0.03f);
+
+			_px4_mag.update(attitude.timestamp,
+					expected_field(0) + _sim_mag_offset_x.get(),
+					expected_field(1) + _sim_mag_offset_y.get(),
+					expected_field(2) + _sim_mag_offset_z.get());
+		}
+	}
+}
+
+int SensorMagSim::task_spawn(int argc, char *argv[])
+{
+	SensorMagSim *instance = new SensorMagSim();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorMagSim::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorMagSim::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_mag_sim", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_mag_sim_main(int argc, char *argv[])
+{
+	return SensorMagSim::main(argc, argv);
+}

src/modules/simulator/sensor_mag_sim/SensorMagSim.hpp

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
+
+using namespace time_literals;
+
+class SensorMagSim : public ModuleBase<SensorMagSim>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	SensorMagSim();
+	~SensorMagSim() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	// generate white Gaussian noise sample with std=1
+	static float generate_wgn();
+
+	// generate white Gaussian noise sample as a 3D vector with specified std
+	matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz) { return matrix::Vector3f(generate_wgn() * stdx, generate_wgn() * stdy, generate_wgn() * stdz); }
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude_groundtruth)};
+	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
+
+	PX4Magnetometer _px4_mag{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
+
+	bool _mag_earth_available{false};
+
+	matrix::Vector3f _mag_earth_pred{};
+
+	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SIM_MAG_OFFSET_X>) _sim_mag_offset_x,
+		(ParamFloat<px4::params::SIM_MAG_OFFSET_Y>) _sim_mag_offset_y,
+		(ParamFloat<px4::params::SIM_MAG_OFFSET_Z>) _sim_mag_offset_z
+	)
+};

src/modules/simulator/sensor_mag_sim/parameters.c

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+/**
+ * simulated magnetometer X offset
+ *
+ * @unit gauss
+ * @group Simulator
+ */
+PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_X, 0.0f);
+
+/**
+ * simulated magnetometer Y offset
+ *
+ * @unit gauss
+ * @group Simulator
+ */
+PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Y, 0.0f);
+
+/**
+ * simulated magnetometer Z offset
+ *
+ * @unit gauss
+ * @group Simulator
+ */
+PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Z,  0.0f);