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114 lines
3.9 KiB
114 lines
3.9 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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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "AP_Beacon_SITL.h" |
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#include <stdio.h> |
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extern const AP_HAL::HAL& hal; |
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#define NUM_BEACONS 4 |
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/* |
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* Define a rectangular pattern of beacons with the pattern centroid located at the beacon origin as defined by the following params: |
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* |
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* BCN_ALT - Height above the WGS-84 geoid (m) |
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* BCN_LATITUDE - WGS-84 latitude (deg) |
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* BCN_LONGITUDE - WGS-84 longitude (deg) |
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* |
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* The spacing between beacons in the North/South and East/West directions is defined by the following parameters: |
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*/ |
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#define BEACON_SPACING_NORTH 10.0 |
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#define BEACON_SPACING_EAST 20.0 |
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// The centroid of the pattern can be moved using using the following parameters: |
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#define ORIGIN_OFFSET_NORTH 2.5 // shifts beacon pattern centroid North (m) |
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#define ORIGIN_OFFSET_EAST 5.0 // shifts beacon pattern centroid East (m) |
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// constructor |
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AP_Beacon_SITL::AP_Beacon_SITL(AP_Beacon &frontend) : |
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AP_Beacon_Backend(frontend), |
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sitl(AP::sitl()) |
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{ |
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} |
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// return true if sensor is basically healthy (we are receiving data) |
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bool AP_Beacon_SITL::healthy() |
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{ |
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// healthy if we have parsed a message within the past 300ms |
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return ((AP_HAL::millis() - last_update_ms) < AP_BEACON_TIMEOUT_MS); |
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} |
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// update the state of the sensor |
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void AP_Beacon_SITL::update(void) |
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{ |
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uint32_t now = AP_HAL::millis(); |
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if (now - last_update_ms < 10) { |
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return; |
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} |
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uint8_t beacon_id = next_beacon; |
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next_beacon = (next_beacon+1) % NUM_BEACONS; |
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// truth location of the flight vehicle |
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Location current_loc; |
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current_loc.lat = sitl->state.latitude * 1.0e7; |
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current_loc.lng = sitl->state.longitude * 1.0e7; |
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current_loc.alt = sitl->state.altitude * 1.0e2; |
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// where the beacon system origin is located |
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Location beacon_origin; |
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beacon_origin.lat = get_beacon_origin_lat() * 1.0e7; |
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beacon_origin.lng = get_beacon_origin_lon() * 1.0e7; |
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beacon_origin.alt = get_beacon_origin_alt() * 1.0e2; |
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// position of each beacon |
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Location beacon_loc = beacon_origin; |
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switch (beacon_id) { |
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case 0: |
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// NE corner |
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2); |
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break; |
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case 1: |
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// SE corner |
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST + BEACON_SPACING_EAST/2); |
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break; |
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case 2: |
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// SW corner |
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH - BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2); |
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break; |
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case 3: |
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// NW corner |
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location_offset(beacon_loc, ORIGIN_OFFSET_NORTH + BEACON_SPACING_NORTH/2, ORIGIN_OFFSET_EAST - BEACON_SPACING_EAST/2); |
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break; |
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} |
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Vector2f beac_diff = location_diff(beacon_origin, beacon_loc); |
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Vector2f veh_diff = location_diff(beacon_origin, current_loc); |
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Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2); |
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Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2); |
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Vector3f beac_veh_offset = veh_pos3d - beac_pos3d; |
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set_beacon_position(beacon_id, beac_pos3d); |
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set_beacon_distance(beacon_id, beac_veh_offset.length()); |
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set_vehicle_position(veh_pos3d, 0.5f); |
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last_update_ms = now; |
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} |
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#endif // CONFIG_HAL_BOARD
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