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112 lines
4.5 KiB
112 lines
4.5 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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#pragma once |
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#include <AP_HAL/utility/Socket.h> |
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#include "SIM_Aircraft.h" |
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namespace SITL { |
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/* |
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A wrapper for a simulated Silent Wings aircraft. |
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*/ |
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class SilentWings : public Aircraft { |
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public: |
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SilentWings(const char *home_str, const char *frame_str); |
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/* Updates the aircraft model by one time step */ |
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void update(const struct sitl_input &input) override; |
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/* Static object creator */ |
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static Aircraft *create(const char *home_str, const char *frame_str) { |
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return new SilentWings(home_str, frame_str); |
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} |
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private: |
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/* Reply packet sent from SilentWings to ArduPlane */ |
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struct PACKED fdm_packet { |
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unsigned int timestamp; // Millisec Timestamp |
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double position_latitude; // Degrees Position latitude, |
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double position_longitude; // Degrees longitude, |
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float altitude_msl; // m Altitude w.r.t. the sea level |
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float altitude_ground; // m Altitude w.r.t. the ground level |
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float altitude_ground_45; // m Ground 45 degrees ahead (NOT IMPLEMENTED YET) |
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float altitude_ground_forward; // m Ground straight ahead (NOT IMPLEMENTED YET) |
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float roll; // Degrees |
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float pitch; // Degrees |
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float yaw; // Degrees |
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float d_roll; // Deg/sec Roll speed |
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float d_pitch; // Deg/sec Pitch speed |
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float d_yaw; // Deg/sec Yaw speed |
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float vx; // m/s Velocity vector in body-axis |
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float vy; |
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float vz; |
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float vx_wind; // m/s Velocity vector in body-axis, relative to the wind |
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float vy_wind; |
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float vz_wind; |
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float v_eas; // m/s Equivalent (indicated) air speed. |
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float ax; // m/s^2 Acceleration vector in body axis |
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float ay; |
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float az; |
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float angle_of_attack; // Degrees Angle of attack |
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float angle_sideslip; // Degrees Sideslip angle |
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float vario; // m/s Total energy-compensated variometer |
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float heading; // Degrees Compass heading |
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float rate_of_turn; // Deg/sec Rate of turn |
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float airpressure; // Pa Local air pressure at aircraft altitude) |
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float density; // Air density at aircraft altitude |
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float temperature; // Degrees Celcius Air temperature at aircraft altitude |
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} pkt; |
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struct { |
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uint32_t last_report_ms; |
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uint32_t data_count; |
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uint32_t frame_count; |
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} report; |
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bool recv_fdm(void); |
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void process_packet(); |
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bool interim_update(); |
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/* Create and set in/out socket for Silent Wings simulator */ |
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void set_interface_ports(const char* address, const int port_in, const int port_out) override; |
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/* Sends control inputs to the Silent Wings. */ |
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void send_servos(const struct sitl_input &input); |
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/* Timestamp of the latest data packet received from Silent Wings. */ |
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uint32_t last_data_time_ms; |
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/* Timestamp of the first data packet received from Silent Wings. */ |
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uint32_t first_pkt_timestamp_ms; |
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/* Indicates whether first_pkt_timestamp_ms has been initialized (i.e., any packets have been received from Silent Wings. */ |
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bool inited_first_pkt_timestamp; |
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/* ArduPlane's internal time when the first packet from Silent Wings is received. */ |
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uint64_t time_base_us; |
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SocketAPM sock; |
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const char *_sw_address = "127.0.0.1"; |
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int _port_in = 6060; |
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int _sw_port = 6070; |
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bool home_initialized; |
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}; |
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} // namespace SITL
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