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93 lines
3.0 KiB
93 lines
3.0 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/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "AP_HAL_SITL.h" |
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#include "AP_HAL_SITL_Namespace.h" |
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#include "HAL_SITL_Class.h" |
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#include <AP_Math/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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extern const AP_HAL::HAL& hal; |
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using namespace HALSITL; |
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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 rollDeg, float pitchDeg, float yawDeg) |
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{ |
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static uint32_t last_update; |
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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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yawDeg += _sitl->mag_error; |
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if (yawDeg > 180.0f) { |
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yawDeg -= 360.0f; |
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} |
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if (yawDeg < -180.0f) { |
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yawDeg += 360.0f; |
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} |
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_compass->setHIL(0, radians(rollDeg), radians(pitchDeg), radians(yawDeg)); |
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_compass->setHIL(1, radians(rollDeg), radians(pitchDeg), radians(yawDeg)); |
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Vector3f noise = _rand_vec3f() * _sitl->mag_noise; |
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Vector3f motor = _sitl->mag_mot.get() * _current; |
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Vector3f new_mag_data = _compass->getHIL(0) + noise + motor; |
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// 100Hz |
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uint32_t now = AP_HAL::millis(); |
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if ((now - last_update) < 10) { |
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return; |
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} |
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last_update = now; |
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// add delay |
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uint32_t best_time_delta_mag = 1000; // initialise large time representing buffer entry closest to current time - delay. |
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uint8_t best_index_mag = 0; // initialise number representing the index of the entry in buffer closest to delay. |
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// storing data from sensor to buffer |
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if (now - last_store_time_mag >= 10) { // store data every 10 ms. |
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last_store_time_mag = now; |
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if (store_index_mag > mag_buffer_length-1) { // reset buffer index if index greater than size of buffer |
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store_index_mag = 0; |
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} |
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buffer_mag[store_index_mag].data = new_mag_data; // add data to current index |
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buffer_mag[store_index_mag].time = last_store_time_mag; // add time to current index |
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store_index_mag = store_index_mag + 1; // increment index |
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} |
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// return delayed measurement |
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delayed_time_mag = now - _sitl->mag_delay; // get time corresponding to delay |
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// find data corresponding to delayed time in buffer |
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for (uint8_t i=0; i<=mag_buffer_length-1; i++) { |
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time_delta_mag = abs(delayed_time_mag - buffer_mag[i].time); // find difference between delayed time and time stamp in buffer |
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// if this difference is smaller than last delta, store this time |
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if (time_delta_mag < best_time_delta_mag) { |
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best_index_mag = i; |
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best_time_delta_mag = time_delta_mag; |
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} |
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} |
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if (best_time_delta_mag < 1000) { // only output stored state if < 1 sec retrieval error |
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new_mag_data = buffer_mag[best_index_mag].data; |
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} |
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new_mag_data -= _sitl->mag_ofs.get(); |
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_compass->setHIL(0, new_mag_data, AP_HAL::micros()); |
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_compass->setHIL(1, new_mag_data, AP_HAL::micros()); |
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} |
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#endif
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