Check in the fake sensor data module

flight/Modules/Sensors/simulated/inc/sensors.h

@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup Sensors Sensors Module
+ * @{ 
+ *
+ * @file       attitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Acquires sensor data and fuses it into attitude estimate for CC
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef SENSORS_H
+#define SENSORS_H
+
+#include "openpilot.h"
+
+int32_t SensorsInitialize(void);
+
+#endif // SENSORS_H

flight/Modules/Sensors/simulated/sensors.c

@@ -0,0 +1,189 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup Sensors
+ * @brief Acquires sensor data 
+ * Specifically updates the the @ref Gyros, @ref Accels, and @ref Magnetometer objects
+ * @{
+ *
+ * @file       sensors.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to handle all comms to the AHRS on a periodic basis.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input objects: None, takes sensor data via pios
+ * Output objects: @ref Gyros @ref Accels @ref Magnetometer
+ *
+ * The module executes in its own thread.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "pios.h"
+#include "attitude.h"
+
+#include "accels.h"
+#include "attitudeactual.h"
+#include "attitudesettings.h"
+#include "baroaltitude.h"
+#include "gyros.h"
+#include "gyrosbias.h"
+#include "flightstatus.h"
+#include "gpsposition.h"
+#include "homelocation.h"
+#include "magnetometer.h"
+#include "revocalibration.h"
+
+#include "CoordinateConversions.h"
+
+// Private constants
+#define STACK_SIZE_BYTES 1540
+#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
+#define SENSOR_PERIOD 2
+
+#define F_PI 3.14159265358979323846f
+#define PI_MOD(x) (fmod(x + F_PI, F_PI * 2) - F_PI)
+// Private types
+
+// Private variables
+static xTaskHandle sensorsTaskHandle;
+
+// Private functions
+static void SensorsTask(void *parameters);
+
+/**
+ * Initialise the module.  Called before the start function
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t SensorsInitialize(void)
+{
+	AccelsInitialize();
+	BaroAltitudeInitialize();
+	GyrosInitialize();
+	GyrosBiasInitialize();
+	MagnetometerInitialize();
+	RevoCalibrationInitialize();
+
+	return 0;
+}
+
+/**
+ * Start the task.  Expects all objects to be initialized by this point.
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t SensorsStart(void)
+{
+	// Start main task
+	xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
+	PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
+
+	return 0;
+}
+
+MODULE_INITCALL(SensorsInitialize, SensorsStart)
+
+/**
+ * Simulated sensor task.  Run a model of the airframe and produce sensor values
+ */
+static void SensorsTask(void *parameters)
+{
+	portTickType lastSysTime;
+
+	AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
+	
+	HomeLocationData homeLocation;
+	HomeLocationGet(&homeLocation);
+	homeLocation.Latitude = 0;
+	homeLocation.Longitude = 0;
+	homeLocation.Altitude = 0;
+	homeLocation.Be[0] = 26000;
+	homeLocation.Be[1] = 400;
+	homeLocation.Be[2] = 40000;
+	homeLocation.Set = HOMELOCATION_SET_TRUE;
+	HomeLocationSet(&homeLocation);
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1) {
+
+
+		AccelsData accelsData; // Skip get as we set all the fields
+		accelsData.x = 0;
+		accelsData.y = -1;
+		accelsData.z = -8;
+		accelsData.temperature = 0;
+		AccelsSet(&accelsData);
+
+
+		GyrosData gyrosData; // Skip get as we set all the fields
+		gyrosData.x = 2;
+		gyrosData.y = 0;
+		gyrosData.z = 1;
+
+		// Apply bias correction to the gyros
+		GyrosBiasData gyrosBias;
+		GyrosBiasGet(&gyrosBias);
+		gyrosData.x += gyrosBias.x;
+		gyrosData.y += gyrosBias.y;
+		gyrosData.z += gyrosBias.z;
+
+		GyrosSet(&gyrosData);
+		
+		BaroAltitudeData baroAltitude;
+		BaroAltitudeGet(&baroAltitude);
+		baroAltitude.Altitude = 1;
+		BaroAltitudeSet(&baroAltitude);
+
+		GPSPositionData gpsPosition;
+		GPSPositionGet(&gpsPosition);
+		gpsPosition.Latitude = 0;
+		gpsPosition.Longitude = 0;
+		gpsPosition.Altitude = 0;		
+		GPSPositionSet(&gpsPosition);
+		
+		// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
+		// and make it average zero (weakly)
+		MagnetometerData mag;
+		mag.x = 400;
+		mag.y = 0;
+		mag.z = 800;
+		MagnetometerSet(&mag);
+		
+		PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
+
+		vTaskDelay(20 / portTICK_RATE_MS);
+	}
+}
+
+/**
+  * @}
+  * @}
+  */

flight/Revolution/Makefile.osx

@@ -54,11 +54,11 @@ USE_THUMB_MODE = YES
 
 # List of modules to include
 MODULES =  Telemetry Actuator ManualControl Stabilization 
-MODULES += Attitude/Revolution
+MODULES += Attitude/revolution
 #MODULES += SimulatedAttitude
 
 # To run simulation instead of connect to SITL
-MODULES += Sensors/Simulated
+MODULES += Sensors/simulated
 
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mtune)