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138 lines
3.5 KiB
138 lines
3.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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simulator connector for ardupilot version of last_letter |
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*/ |
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#include "SIM_last_letter.h" |
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#include <fcntl.h> |
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#include <stdio.h> |
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#include <sys/stat.h> |
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#include <sys/types.h> |
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#include <AP_HAL/AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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namespace SITL { |
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last_letter::last_letter(const char *home_str, const char *_frame_str) : |
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Aircraft(home_str, _frame_str), |
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last_timestamp_us(0), |
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sock(true), |
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frame_str(_frame_str) |
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{ |
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// try to bind to a specific port so that if we restart ArduPilot |
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// last_letter keeps sending us packets. Not strictly necessary but |
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// useful for debugging |
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sock.bind("127.0.0.1", fdm_port+1); |
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sock.reuseaddress(); |
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sock.set_blocking(false); |
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start_last_letter(); |
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} |
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/* |
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start last_letter child |
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*/ |
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void last_letter::start_last_letter(void) |
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{ |
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pid_t child_pid = fork(); |
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if (child_pid == 0) { |
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// in child |
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close(0); |
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open("/dev/null", O_RDONLY|O_CLOEXEC); |
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for (uint8_t i=3; i<100; i++) { |
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close(i); |
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} |
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int ret = execlp("roslaunch", |
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"roslaunch", |
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"last_letter", |
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"gazebo.launch", |
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"ArduPlane:=true", |
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nullptr); |
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if (ret != 0) { |
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perror("roslaunch"); |
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} |
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exit(1); |
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} |
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} |
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/* |
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send servos |
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*/ |
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void last_letter::send_servos(const struct sitl_input &input) |
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{ |
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servo_packet pkt; |
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memcpy(pkt.servos, input.servos, sizeof(pkt.servos)); |
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sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", fdm_port); |
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} |
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/* |
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receive an update from the FDM |
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This is a blocking function |
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*/ |
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void last_letter::recv_fdm(const struct sitl_input &input) |
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{ |
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fdm_packet pkt; |
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/* |
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we re-send the servo packet every 0.1 seconds until we get a |
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reply. This allows us to cope with some packet loss to the FDM |
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*/ |
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while (sock.recv(&pkt, sizeof(pkt), 100) != sizeof(pkt)) { |
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send_servos(input); |
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} |
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accel_body = Vector3f(pkt.xAccel, pkt.yAccel, pkt.zAccel); |
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gyro = Vector3f(pkt.rollRate, pkt.pitchRate, pkt.yawRate); |
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velocity_ef = Vector3f(pkt.speedN, pkt.speedE, pkt.speedD); |
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location.lat = pkt.latitude * 1.0e7; |
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location.lng = pkt.longitude * 1.0e7; |
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location.alt = pkt.altitude*1.0e2; |
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dcm.from_euler(pkt.roll, pkt.pitch, pkt.yaw); |
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airspeed = pkt.airspeed; |
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airspeed_pitot = pkt.airspeed; |
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// auto-adjust to last_letter frame rate |
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uint64_t deltat_us = pkt.timestamp_us - last_timestamp_us; |
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time_now_us += deltat_us; |
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if (deltat_us < 1.0e4 && deltat_us > 0) { |
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adjust_frame_time(1.0e6/deltat_us); |
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} |
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last_timestamp_us = pkt.timestamp_us; |
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} |
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/* |
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update the last_letter simulation by one time step |
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*/ |
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void last_letter::update(const struct sitl_input &input) |
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{ |
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send_servos(input); |
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recv_fdm(input); |
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sync_frame_time(); |
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update_position(); |
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time_advance(); |
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// update magnetic field |
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update_mag_field_bf(); |
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} |
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} // namespace SITL
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