Added simulator support for AirspeedActual UAVO.

ground/openpilotgcs/src/plugins/hitl/hitlconfiguration.cpp

@@ -64,23 +64,30 @@ HITLConfiguration::HITLConfiguration(QString classId, QSettings* qSettings, QObj
     settings.manualControlEnabled= false;
     settings.minOutputPeriod     = 100;
 
+    settings.airspeedActualEnabled= false;
+    settings.airspeedActualRate  = 100;
+
 
     // if a saved configuration exists load it, and overwrite defaults
     if (qSettings != 0) {
-        settings.simulatorId         = qSettings->value("simulatorId").toString();
-        settings.hostAddress         = qSettings->value("hostAddress").toString();
-        settings.inPort              = qSettings->value("inPort").toInt();
-        settings.remoteAddress       = qSettings->value("remoteAddress").toString();
-        settings.outPort             = qSettings->value("outPort").toInt();
 
+        settings.simulatorId         = qSettings->value("simulatorId").toString();
         settings.binPath             = qSettings->value("binPath").toString();
         settings.dataPath            = qSettings->value("dataPath").toString();
 
+        settings.hostAddress         = qSettings->value("hostAddress").toString();
+        settings.remoteAddress       = qSettings->value("remoteAddress").toString();
+        settings.outPort             = qSettings->value("outPort").toInt();
+        settings.inPort              = qSettings->value("inPort").toInt();
+
         settings.latitude            = qSettings->value("latitude").toString();
         settings.longitude           = qSettings->value("longitude").toString();
         settings.startSim            = qSettings->value("startSim").toBool();
         settings.addNoise            = qSettings->value("noiseCheckBox").toBool();
 
+        settings.gcsReceiverEnabled  = qSettings->value("gcsReceiverEnabled").toBool();
+        settings.manualControlEnabled= qSettings->value("manualControlEnabled").toBool();
+
         settings.attRawEnabled       = qSettings->value("attRawEnabled").toBool();
         settings.attRawRate          = qSettings->value("attRawRate").toInt();
 
@@ -99,9 +106,10 @@ HITLConfiguration::HITLConfiguration(QString classId, QSettings* qSettings, QObj
         settings.groundTruthRate     = qSettings->value("groundTruthRate").toInt();
 
         settings.inputCommand        = qSettings->value("inputCommand").toBool();
-        settings.gcsReceiverEnabled  = qSettings->value("gcsReceiverEnabled").toBool();
-        settings.manualControlEnabled= qSettings->value("manualControlEnabled").toBool();
         settings.minOutputPeriod     = qSettings->value("minOutputPeriod").toInt();
+
+        settings.airspeedActualEnabled=qSettings->value("airspeedActualEnabled").toBool();
+        settings.airspeedActualRate  = qSettings->value("airspeedActualRate").toInt();
     }
 }
 
@@ -150,6 +158,7 @@ void HITLConfiguration::saveConfig(QSettings* qSettings) const {
     qSettings->setValue("inputCommand", settings.inputCommand);
     qSettings->setValue("minOutputPeriod", settings.minOutputPeriod);
 
-
+    qSettings->setValue("airspeedActualEnabled", settings.airspeedActualEnabled);
+    qSettings->setValue("airspeedActualRate", settings.airspeedActualRate);
 }
 

ground/openpilotgcs/src/plugins/hitl/hitlnoisegeneration.cpp

@@ -72,7 +72,7 @@ Noise HitlNoiseGeneration::generateNoise(){
     noise.accelData.y=0;
     noise.accelData.z=0;
 
-    noise.baroAirspeed.CalibratedAirspeed=0;
+    noise.airspeedActual.CalibratedAirspeed=0;
 
     return noise;
 }

ground/openpilotgcs/src/plugins/hitl/hitlnoisegeneration.h

@@ -40,7 +40,7 @@ struct Noise{
     Accels::DataFields accelData;
     AttitudeActual::DataFields attActualData;
     BaroAltitude::DataFields baroAltData;
-    BaroAirspeed::DataFields baroAirspeed;
+    AirspeedActual::DataFields airspeedActual;
     GPSPosition::DataFields gpsPosData;
     GPSVelocity::DataFields gpsVelData;
     Gyros::DataFields gyroData;

ground/openpilotgcs/src/plugins/hitl/hitloptionspage.cpp

@@ -113,6 +113,8 @@ QWidget *HITLOptionsPage::createPage(QWidget *parent)
     m_optionsPage->attActCalc->setChecked(config->Settings().attActCalc);
     m_optionsPage->attActSim->setChecked(config->Settings().attActSim);
 
+    m_optionsPage->airspeedActualCheckbox->setChecked(config->Settings().airspeedActualEnabled);
+    m_optionsPage->airspeedRateSpinbox->setValue(config->Settings().airspeedActualRate);
 
     return optionsPageWidget;
 }
@@ -160,6 +162,10 @@ void HITLOptionsPage::apply()
     settings.attActSim = m_optionsPage->attActSim->isChecked();
     settings.attActCalc = m_optionsPage->attActCalc->isChecked();
 
+    settings.airspeedActualEnabled=m_optionsPage->airspeedActualCheckbox->isChecked();
+    settings.airspeedActualRate=m_optionsPage->airspeedRateSpinbox->value();
+
+    //Write settings to file
     config->setSimulatorSettings(settings);
 }
 

ground/openpilotgcs/src/plugins/hitl/hitloptionspage.ui

@@ -154,7 +154,7 @@
        </item>
       </layout>
      </widget>
-     <widget class="QWidget" name="layoutWidget">
+     <widget class="QWidget" name="layoutWidget1">
       <property name="geometry">
        <rect>
         <x>10</x>
@@ -829,6 +829,50 @@
           <property name="bottomMargin">
            <number>0</number>
           </property>
+          <item>
+           <widget class="QGroupBox" name="airspeedActualCheckbox">
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="title">
+             <string>AirspeedActual</string>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+            <layout class="QHBoxLayout" name="horizontalLayout_9">
+             <item>
+              <widget class="QLabel" name="label_15">
+               <property name="text">
+                <string>Refresh rate:</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QSpinBox" name="airspeedRateSpinbox">
+               <property name="toolTip">
+                <string>0 - update once, or every N seconds</string>
+               </property>
+               <property name="suffix">
+                <string>ms</string>
+               </property>
+               <property name="maximum">
+                <number>5000</number>
+               </property>
+               <property name="value">
+                <number>100</number>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </widget>
+          </item>
           <item>
            <widget class="QGroupBox" name="baroAltitudeCheckbox">
             <property name="enabled">
@@ -912,7 +956,7 @@
                   <number>10</number>
                  </property>
                  <property name="value">
-                  <number>50</number>
+                  <number>250</number>
                  </property>
                 </widget>
                </item>

ground/openpilotgcs/src/plugins/hitl/simulator.cpp

@@ -69,6 +69,7 @@ Simulator::Simulator(const SimulatorSettings& params) :
     gcsRcvrTime = currentTime;
     attRawTime = currentTime;
     baroAltTime = currentTime;
+    airspeedActualTime=currentTime;
 
 }
 
@@ -143,7 +144,7 @@ void Simulator::onStart()
     velActual = VelocityActual::GetInstance(objManager);
     posActual = PositionActual::GetInstance(objManager);
     baroAlt = BaroAltitude::GetInstance(objManager);
-    baroAirspeed = BaroAirspeed::GetInstance(objManager);
+    airspeedActual = AirspeedActual::GetInstance(objManager);
     attActual = AttitudeActual::GetInstance(objManager);
     attSettings = AttitudeSettings::GetInstance(objManager);
     accels = Accels::GetInstance(objManager);
@@ -267,6 +268,9 @@ void Simulator::setupObjects()
     else
         setupWatchedObject(attActual, 100); //Hardcoded? Bleh.
 
+    if(settings.airspeedActualEnabled)
+        setupOutputObject(airspeedActual, settings.airspeedActualRate);
+
     if(settings.baroAltitudeEnabled)
         setupOutputObject(baroAlt, settings.baroAltRate);
 
@@ -674,6 +678,18 @@ void Simulator::updateUAVOs(Output2Hardware out){
         }
     }
 
+    // Update AirspeedActual object
+    if (settings.airspeedActualEnabled){
+        if (airspeedActualTime.msecsTo(currentTime) >= settings.airspeedActualRate) {
+        AirspeedActual::DataFields airspeedActualData;
+        memset(&airspeedActualData, 0, sizeof(AirspeedActual::DataFields));
+        airspeedActualData.CalibratedAirspeed = out.calibratedAirspeed + noise.airspeedActual.CalibratedAirspeed;
+        airspeedActual->setData(airspeedActualData);
+
+        airspeedActualTime=airspeedActualTime.addMSecs(settings.airspeedActualRate);
+        }
+    }
+
     // Update raw attitude sensors
     if (settings.attRawEnabled) {
         if (attRawTime.msecsTo(currentTime) >= settings.attRawRate) {

ground/openpilotgcs/src/plugins/hitl/simulator.h

@@ -43,7 +43,7 @@
 #include "actuatordesired.h"
 #include "attitudeactual.h"
 #include "attitudesettings.h"
-#include "baroairspeed.h"
+#include "airspeedactual.h"
 #include "baroaltitude.h"
 #include "flightstatus.h"
 #include "gcsreceiver.h"
@@ -140,6 +140,9 @@ typedef struct _CONNECTION
     bool manualControlEnabled;
     quint16 minOutputPeriod;
 
+    bool airspeedActualEnabled;
+    quint16 airspeedActualRate;
+
 } SimulatorSettings;
 
 
@@ -260,7 +263,7 @@ protected:
     ManualControlCommand* manCtrlCommand;
     FlightStatus* flightStatus;
     BaroAltitude* baroAlt;
-    BaroAirspeed* baroAirspeed;
+    AirspeedActual* airspeedActual;
     AttitudeActual* attActual;
     AttitudeSettings* attSettings;
     VelocityActual* velActual;
@@ -297,6 +300,7 @@ private:
     QTime groundTruthTime;
     QTime baroAltTime;
     QTime gcsRcvrTime;
+    QTime airspeedActualTime;
 
     QString name;
     QString simulatorId;