mirror of
https://bitbucket.org/librepilot/librepilot.git
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702 lines
24 KiB
C++
702 lines
24 KiB
C++
/**
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******************************************************************************
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*
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* @file simulator.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup HITLPlugin HITL Plugin
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* @{
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* @brief The Hardware In The Loop plugin
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*****************************************************************************/
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/*
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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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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "simulator.h"
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#include "qxtlogger.h"
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#include "extensionsystem/pluginmanager.h"
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#include "coreplugin/icore.h"
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#include "coreplugin/threadmanager.h"
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#include "hitlnoisegeneration.h"
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volatile bool Simulator::isStarted = false;
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const float Simulator::GEE = 9.81;
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const float Simulator::FT2M = 0.3048;
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const float Simulator::KT2MPS = 0.514444444;
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const float Simulator::INHG2KPA = 3.386;
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const float Simulator::FPS2CMPS = 30.48;
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const float Simulator::DEG2RAD = (M_PI/180.0);
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const float Simulator::RAD2DEG = (180.0/M_PI);
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Simulator::Simulator(const SimulatorSettings& params) :
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simProcess(NULL),
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time(NULL),
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inSocket(NULL),
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outSocket(NULL),
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settings(params),
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updatePeriod(50),
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simTimeout(8000),
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autopilotConnectionStatus(false),
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simConnectionStatus(false),
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txTimer(NULL),
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simTimer(NULL),
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name("")
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{
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// move to thread
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moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
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connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
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emit myStart();
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QTime currentTime=QTime::currentTime();
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gpsPosTime = currentTime;
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groundTruthTime = currentTime;
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gcsRcvrTime = currentTime;
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attRawTime = currentTime;
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baroAltTime = currentTime;
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}
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Simulator::~Simulator()
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{
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if(inSocket)
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{
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delete inSocket;
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inSocket = NULL;
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}
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if(outSocket)
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{
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delete outSocket;
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outSocket = NULL;
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}
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if(txTimer)
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{
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delete txTimer;
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txTimer = NULL;
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}
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if(simTimer)
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{
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delete simTimer;
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simTimer = NULL;
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}
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// NOTE: Does not currently work, may need to send control+c to through the terminal
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if (simProcess != NULL)
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{
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//connect(simProcess,SIGNAL(finished(int, QProcess::ExitStatus)),this,SLOT(onFinished(int, QProcess::ExitStatus)));
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simProcess->disconnect();
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if(simProcess->state() == QProcess::Running)
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simProcess->kill();
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//if(simProcess->waitForFinished())
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//emit deleteSimProcess();
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delete simProcess;
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simProcess = NULL;
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}
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}
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void Simulator::onDeleteSimulator(void)
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{
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// [1]
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Simulator::setStarted(false);
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// [2]
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Simulator::Instances().removeOne(simulatorId);
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disconnect(this);
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delete this;
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}
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void Simulator::onStart()
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{
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QMutexLocker locker(&lock);
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QThread* mainThread = QThread::currentThread();
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qDebug() << "Simulator Thread: "<< mainThread;
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// Get required UAVObjects
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ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
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actDesired = ActuatorDesired::GetInstance(objManager);
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actCommand = ActuatorCommand::GetInstance(objManager);
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manCtrlCommand = ManualControlCommand::GetInstance(objManager);
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gcsReceiver= GCSReceiver::GetInstance(objManager);
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flightStatus = FlightStatus::GetInstance(objManager);
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posHome = HomeLocation::GetInstance(objManager);
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velActual = VelocityActual::GetInstance(objManager);
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posActual = PositionActual::GetInstance(objManager);
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baroAlt = BaroAltitude::GetInstance(objManager);
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baroAirspeed = BaroAirspeed::GetInstance(objManager);
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attActual = AttitudeActual::GetInstance(objManager);
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attSettings = AttitudeSettings::GetInstance(objManager);
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accels = Accels::GetInstance(objManager);
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gyros = Gyros::GetInstance(objManager);
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gpsPos = GPSPosition::GetInstance(objManager);
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gpsVel = GPSVelocity::GetInstance(objManager);
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telStats = GCSTelemetryStats::GetInstance(objManager);
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// Listen to autopilot connection events
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TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
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connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
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connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
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//connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));
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// If already connect setup autopilot
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GCSTelemetryStats::DataFields stats = telStats->getData();
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if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
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onAutopilotConnect();
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inSocket = new QUdpSocket();
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outSocket = new QUdpSocket();
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setupUdpPorts(settings.hostAddress,settings.inPort,settings.outPort);
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emit processOutput("\nLocal interface: " + settings.hostAddress + "\n" + \
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"Remote interface: " + settings.remoteAddress + "\n" + \
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"inputPort: " + QString::number(settings.inPort) + "\n" + \
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"outputPort: " + QString::number(settings.outPort) + "\n");
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qxtLog->info("\nLocal interface: " + settings.hostAddress + "\n" + \
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"Remote interface: " + settings.remoteAddress + "\n" + \
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"inputPort: " + QString::number(settings.inPort) + "\n" + \
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"outputPort: " + QString::number(settings.outPort) + "\n");
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// if(!inSocket->waitForConnected(5000))
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// emit processOutput(QString("Can't connect to %1 on %2 port!").arg(settings.hostAddress).arg(settings.inPort));
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// outSocket->connectToHost(settings.hostAddress,settings.outPort); // FG
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// if(!outSocket->waitForConnected(5000))
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// emit processOutput(QString("Can't connect to %1 on %2 port!").arg(settings.hostAddress).arg(settings.outPort));
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connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
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// Setup transmit timer
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txTimer = new QTimer();
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connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
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txTimer->setInterval(updatePeriod);
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txTimer->start();
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// Setup simulator connection timer
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simTimer = new QTimer();
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connect(simTimer, SIGNAL(timeout()), this, SLOT(onSimulatorConnectionTimeout()),Qt::DirectConnection);
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simTimer->setInterval(simTimeout);
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simTimer->start();
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// setup time
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time = new QTime();
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time->start();
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current.T=0;
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current.i=0;
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}
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void Simulator::receiveUpdate()
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{
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// Update connection timer and status
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simTimer->setInterval(simTimeout);
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simTimer->stop();
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simTimer->start();
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if ( !simConnectionStatus )
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{
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simConnectionStatus = true;
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emit simulatorConnected();
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}
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// Process data
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while(inSocket->hasPendingDatagrams()) {
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// Receive datagram
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QByteArray datagram;
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datagram.resize(inSocket->pendingDatagramSize());
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QHostAddress sender;
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quint16 senderPort;
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inSocket->readDatagram(datagram.data(), datagram.size(),
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&sender, &senderPort);
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//QString datastr(datagram);
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// Process incomming data
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processUpdate(datagram);
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}
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}
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void Simulator::setupObjects()
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{
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if (settings.gcsReceiverEnabled) {
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setupInputObject(actCommand, settings.minOutputPeriod); //Input to the simulator
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setupOutputObject(gcsReceiver, settings.minOutputPeriod);
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} else if (settings.manualControlEnabled) {
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setupInputObject(actDesired, settings.minOutputPeriod); //Input to the simulator
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}
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setupOutputObject(posHome, 10000);
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setupOutputObject(baroAlt, 250);
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if (settings.gpsPositionEnabled)
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setupOutputObject(gpsPos, settings.gpsPosRate);
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if (settings.groundTruthEnabled){
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setupOutputObject(posActual, settings.groundTruthRate);
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setupOutputObject(velActual, settings.groundTruthRate);
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}
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if (settings.attRawEnabled) {
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setupOutputObject(accels, settings.attRawRate);
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setupOutputObject(gyros, settings.attRawRate);
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}
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if (settings.attActualEnabled && settings.attActHW) {
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setupOutputObject(accels, settings.attRawRate);
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setupOutputObject(gyros, settings.attRawRate);
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}
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if (settings.attActualEnabled && !settings.attActHW)
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setupOutputObject(attActual, 20);
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else
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setupWatchedObject(attActual, 100);
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}
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void Simulator::setupInputObject(UAVObject* obj, quint32 updatePeriod)
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{
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UAVObject::Metadata mdata;
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mdata = obj->getDefaultMetadata();
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UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READONLY);
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UAVObject::SetGcsTelemetryAcked(mdata, false);
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UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
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mdata.gcsTelemetryUpdatePeriod = 0;
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UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
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UAVObject::SetFlightTelemetryAcked(mdata, false);
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UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
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mdata.flightTelemetryUpdatePeriod = updatePeriod;
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obj->setMetadata(mdata);
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}
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void Simulator::setupWatchedObject(UAVObject *obj, quint32 updatePeriod)
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{
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UAVObject::Metadata mdata;
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mdata = obj->getDefaultMetadata();
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UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READONLY);
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UAVObject::SetGcsTelemetryAcked(mdata, false);
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UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
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mdata.gcsTelemetryUpdatePeriod = 0;
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UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
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UAVObject::SetFlightTelemetryAcked(mdata, false);
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UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
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mdata.flightTelemetryUpdatePeriod = updatePeriod;
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obj->setMetadata(mdata);
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}
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void Simulator::setupOutputObject(UAVObject* obj, quint32 updatePeriod)
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{
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UAVObject::Metadata mdata;
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mdata = obj->getDefaultMetadata();
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UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
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UAVObject::SetGcsTelemetryAcked(mdata, false);
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UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
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mdata.gcsTelemetryUpdatePeriod = updatePeriod;
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UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
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UAVObject::SetFlightTelemetryUpdateMode(mdata,UAVObject::UPDATEMODE_MANUAL);
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obj->setMetadata(mdata);
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}
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void Simulator::onAutopilotConnect()
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{
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autopilotConnectionStatus = true;
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setupObjects();
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emit autopilotConnected();
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}
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void Simulator::onAutopilotDisconnect()
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{
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autopilotConnectionStatus = false;
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emit autopilotDisconnected();
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}
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void Simulator::onSimulatorConnectionTimeout()
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{
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if ( simConnectionStatus )
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{
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simConnectionStatus = false;
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emit simulatorDisconnected();
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}
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}
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void Simulator::telStatsUpdated(UAVObject* obj)
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{
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Q_UNUSED(obj);
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GCSTelemetryStats::DataFields stats = telStats->getData();
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if ( !autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
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{
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onAutopilotConnect();
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}
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else if ( autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED )
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{
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onAutopilotDisconnect();
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}
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}
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void Simulator::resetInitialHomePosition(){
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once=false;
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}
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void Simulator::updateUAVOs(Output2Hardware out){
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QTime currentTime = QTime::currentTime();
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Noise noise;
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HitlNoiseGeneration noiseSource;
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if(settings.addNoise){
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noise = noiseSource.generateNoise();
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}
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else{
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memset(&noise, 0, sizeof(Noise));
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}
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HomeLocation::DataFields homeData = posHome->getData();
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if(!once)
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{
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// Upon startup, we reset the HomeLocation object to
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// the plane's location:
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memset(&homeData, 0, sizeof(HomeLocation::DataFields));
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// Update homelocation
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homeData.Latitude = out.latitude; //Already in *10^7 integer format
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homeData.Longitude = out.longitude; //Already in *10^7 integer format
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homeData.Altitude = out.altitude;
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double LLA[3];
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LLA[0]=out.latitude;
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LLA[1]=out.longitude;
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LLA[2]=out.altitude;
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double ECEF[3];
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double RNE[9];
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Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
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Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
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homeData.Be[0]=0;
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homeData.Be[1]=0;
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homeData.Be[2]=0;
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posHome->setData(homeData);
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posHome->updated();
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// Compute initial distance
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initN = out.dstN;
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initE = out.dstE;
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initD = out.dstD;
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once=true;
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}
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// Update attActual object
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AttitudeActual::DataFields attActualData;
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attActualData = attActual->getData();
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if (settings.attActHW) {
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// do nothing
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/*****************************************/
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} else if (settings.attActSim) {
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// take all data from simulator
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attActualData.Roll = out.roll + noise.attActualData.Roll; //roll;
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attActualData.Pitch = out.pitch + noise.attActualData.Pitch; // pitch
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attActualData.Yaw = out.heading + noise.attActualData.Yaw; // Yaw
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float rpy[3];
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float quat[4];
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rpy[0] = attActualData.Roll;
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rpy[1] = attActualData.Pitch;
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rpy[2] = attActualData.Yaw;
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Utils::CoordinateConversions().RPY2Quaternion(rpy,quat);
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attActualData.q1 = quat[0];
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attActualData.q2 = quat[1];
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attActualData.q3 = quat[2];
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attActualData.q4 = quat[3];
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//Set UAVO
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attActual->setData(attActualData);
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/*****************************************/
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} else if (settings.attActCalc) {
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// calculate RPY with code from Attitude module
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static float q[4] = {1, 0, 0, 0};
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static float gyro_correct_int2 = 0;
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float dT = out.delT;
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AttitudeSettings::DataFields attSettData = attSettings->getData();
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float accelKp = attSettData.AccelKp * 0.1666666666666667;
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float accelKi = attSettData.AccelKp * 0.1666666666666667;
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float yawBiasRate = attSettData.YawBiasRate;
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// calibrate sensors on arming
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if (flightStatus->getData().Armed == FlightStatus::ARMED_ARMING) {
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accelKp = 2.0;
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accelKi = 0.9;
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}
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float gyro[3] = {out.rollRate, out.pitchRate, out.yawRate};
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float attRawAcc[3] = {out.accX, out.accY, out.accZ};
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// code from Attitude module begin ///////////////////////////////
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float *accels = attRawAcc;
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float grot[3];
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float accel_err[3];
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// Rotate gravity to body frame and cross with accels
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grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
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grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
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grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
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// CrossProduct
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{
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accel_err[0] = accels[1]*grot[2] - grot[1]*accels[2];
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accel_err[1] = grot[0]*accels[2] - accels[0]*grot[2];
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accel_err[2] = accels[0]*grot[1] - grot[0]*accels[1];
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}
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// Account for accel magnitude
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float accel_mag = sqrt(accels[0] * accels[0] + accels[1] * accels[1] + accels[2] * accels[2]);
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accel_err[0] /= accel_mag;
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accel_err[1] /= accel_mag;
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accel_err[2] /= accel_mag;
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// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
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gyro_correct_int2 += -gyro[2] * yawBiasRate;
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// Correct rates based on error, integral component dealt with in updateSensors
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gyro[0] += accel_err[0] * accelKp / dT;
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gyro[1] += accel_err[1] * accelKp / dT;
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gyro[2] += accel_err[2] * accelKp / dT + gyro_correct_int2;
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// Work out time derivative from INSAlgo writeup
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// Also accounts for the fact that gyros are in deg/s
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float qdot[4];
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qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
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qdot[1] = (+q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
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qdot[2] = (+q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
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qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
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// Take a time step
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q[0] += qdot[0];
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q[1] += qdot[1];
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q[2] += qdot[2];
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q[3] += qdot[3];
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|
|
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if(q[0] < 0) {
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q[0] = -q[0];
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q[1] = -q[1];
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q[2] = -q[2];
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q[3] = -q[3];
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}
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|
|
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// Renomalize
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float qmag = sqrt((q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
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q[0] /= qmag;
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q[1] /= qmag;
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q[2] /= qmag;
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q[3] /= qmag;
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|
|
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// If quaternion has become inappropriately short or is nan reinit.
|
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// THIS SHOULD NEVER ACTUALLY HAPPEN
|
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if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
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q[0] = 1;
|
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q[1] = 0;
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q[2] = 0;
|
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q[3] = 0;
|
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}
|
|
|
|
float rpy2[3];
|
|
// Quaternion2RPY
|
|
{
|
|
float q0s, q1s, q2s, q3s;
|
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q0s = q[0] * q[0];
|
|
q1s = q[1] * q[1];
|
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q2s = q[2] * q[2];
|
|
q3s = q[3] * q[3];
|
|
|
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float R13, R11, R12, R23, R33;
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R13 = 2 * (q[1] * q[3] - q[0] * q[2]);
|
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R11 = q0s + q1s - q2s - q3s;
|
|
R12 = 2 * (q[1] * q[2] + q[0] * q[3]);
|
|
R23 = 2 * (q[2] * q[3] + q[0] * q[1]);
|
|
R33 = q0s - q1s - q2s + q3s;
|
|
|
|
rpy2[1] = RAD2DEG * asinf(-R13); // pitch always between -pi/2 to pi/2
|
|
rpy2[2] = RAD2DEG * atan2f(R12, R11);
|
|
rpy2[0] = RAD2DEG * atan2f(R23, R33);
|
|
}
|
|
|
|
attActualData.Roll = rpy2[0];
|
|
attActualData.Pitch = rpy2[1];
|
|
attActualData.Yaw = rpy2[2];
|
|
attActualData.q1 = q[0];
|
|
attActualData.q2 = q[1];
|
|
attActualData.q3 = q[2];
|
|
attActualData.q4 = q[3];
|
|
|
|
//Set UAVO
|
|
attActual->setData(attActualData);
|
|
/*****************************************/
|
|
}
|
|
|
|
if (settings.gcsReceiverEnabled) {
|
|
if (gcsRcvrTime.msecsTo(currentTime) >= settings.minOutputPeriod) {
|
|
GCSReceiver::DataFields gcsRcvrData;
|
|
memset(&gcsRcvrData, 0, sizeof(GCSReceiver::DataFields));
|
|
|
|
for (quint16 i = 0; i < GCSReceiver::CHANNEL_NUMELEM; i++){
|
|
gcsRcvrData.Channel[i] = 1500 + (out.rc_channel[i]*500); //Elements in rc_channel are between -1 and 1
|
|
}
|
|
|
|
gcsReceiver->setData(gcsRcvrData);
|
|
|
|
gcsRcvrTime=gcsRcvrTime.addMSecs(settings.minOutputPeriod);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
if (settings.gpsPositionEnabled) {
|
|
if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
|
|
qDebug()<< " GPS time:" << gpsPosTime << ", currentTime: " << currentTime << ", difference: " << gpsPosTime.msecsTo(currentTime);
|
|
// Update GPS Position objects
|
|
GPSPosition::DataFields gpsPosData;
|
|
memset(&gpsPosData, 0, sizeof(GPSPosition::DataFields));
|
|
gpsPosData.Altitude = out.altitude + noise.gpsPosData.Altitude;
|
|
gpsPosData.Heading = out.heading + noise.gpsPosData.Heading;
|
|
gpsPosData.Groundspeed = out.groundspeed + noise.gpsPosData.Groundspeed;
|
|
gpsPosData.Latitude = out.latitude + noise.gpsPosData.Latitude; //Already in *10^7 integer format
|
|
gpsPosData.Longitude = out.longitude + noise.gpsPosData.Longitude; //Already in *10^7 integer format
|
|
gpsPosData.GeoidSeparation = 0.0;
|
|
gpsPosData.PDOP = 3.0;
|
|
gpsPosData.VDOP = gpsPosData.PDOP*1.5;
|
|
gpsPosData.Satellites = 10;
|
|
gpsPosData.Status = GPSPosition::STATUS_FIX3D;
|
|
|
|
gpsPos->setData(gpsPosData);
|
|
|
|
// Update GPS Velocity.{North,East,Down}
|
|
GPSVelocity::DataFields gpsVelData;
|
|
memset(&gpsVelData, 0, sizeof(GPSVelocity::DataFields));
|
|
gpsVelData.North = out.velNorth + noise.gpsVelData.North;
|
|
gpsVelData.East = out.velEast + noise.gpsVelData.East;
|
|
gpsVelData.Down = out.velDown + noise.gpsVelData.Down;
|
|
|
|
gpsVel->setData(gpsVelData);
|
|
|
|
gpsPosTime=gpsPosTime.addMSecs(settings.gpsPosRate);
|
|
}
|
|
}
|
|
|
|
// Update VelocityActual.{North,East,Down}
|
|
if (settings.groundTruthEnabled) {
|
|
if (groundTruthTime.msecsTo(currentTime) >= settings.groundTruthRate) {
|
|
VelocityActual::DataFields velocityActualData;
|
|
memset(&velocityActualData, 0, sizeof(VelocityActual::DataFields));
|
|
velocityActualData.North = out.velNorth + noise.velocityActualData.North;
|
|
velocityActualData.East = out.velEast + noise.velocityActualData.East;
|
|
velocityActualData.Down = out.velDown + noise.velocityActualData.Down;
|
|
velActual->setData(velocityActualData);
|
|
|
|
// Update PositionActual.{Nort,East,Down}
|
|
PositionActual::DataFields positionActualData;
|
|
memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
|
|
positionActualData.North = (out.dstN-initN) + noise.positionActualData.North;
|
|
positionActualData.East = (out.dstE-initE) + noise.positionActualData.East;
|
|
positionActualData.Down = (out.dstD/*-initD*/) + noise.positionActualData.Down;
|
|
posActual->setData(positionActualData);
|
|
|
|
groundTruthTime=groundTruthTime.addMSecs(settings.groundTruthRate);
|
|
}
|
|
}
|
|
|
|
// if (settings.sonarAltitude) {
|
|
// static QTime sonarAltTime = currentTime;
|
|
// if (sonarAltTime.msecsTo(currentTime) >= settings.sonarAltRate) {
|
|
// SonarAltitude::DataFields sonarAltData;
|
|
// sonarAltData = sonarAlt->getData();
|
|
|
|
// float sAlt = settings.sonarMaxAlt;
|
|
// // 0.35 rad ~= 20 degree
|
|
// if ((agl < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
|
|
// float x = agl * qTan(roll);
|
|
// float y = agl * qTan(pitch);
|
|
// float h = qSqrt(x*x + y*y + agl*agl);
|
|
// sAlt = qMin(h, sAlt);
|
|
// }
|
|
|
|
// sonarAltData.Altitude = sAlt;
|
|
// sonarAlt->setData(sonarAltData);
|
|
// sonarAltTime = currentTime;
|
|
// }
|
|
// }
|
|
|
|
// Update BaroAltitude object
|
|
if (settings.baroAltitudeEnabled){
|
|
if (baroAltTime.msecsTo(currentTime) >= settings.baroAltRate) {
|
|
BaroAltitude::DataFields baroAltData;
|
|
memset(&baroAltData, 0, sizeof(BaroAltitude::DataFields));
|
|
baroAltData.Altitude = out.altitude + noise.baroAltData.Altitude;
|
|
baroAltData.Temperature = out.temperature + noise.baroAltData.Temperature;
|
|
baroAltData.Pressure = out.pressure + noise.baroAltData.Pressure;
|
|
baroAlt->setData(baroAltData);
|
|
|
|
// Update BaroAirspeed object
|
|
BaroAirspeed::DataFields baroAirspeedData;
|
|
memset(&baroAirspeedData, 0, sizeof(BaroAirspeed::DataFields));
|
|
baroAirspeedData.CalibratedAirspeed = out.calibratedAirspeed + noise.baroAirspeed.CalibratedAirspeed;
|
|
baroAirspeed->setData(baroAirspeedData);
|
|
}
|
|
}
|
|
|
|
// Update raw attitude sensors
|
|
if (settings.attRawEnabled) {
|
|
if (attRawTime.msecsTo(currentTime) >= settings.attRawRate) {
|
|
//Update gyroscope sensor data
|
|
Gyros::DataFields gyroData;
|
|
memset(&gyroData, 0, sizeof(Gyros::DataFields));
|
|
gyroData.x = out.rollRate + noise.gyroData.x;
|
|
gyroData.y = out.pitchRate + noise.gyroData.y;
|
|
gyroData.z = out.yawRate + noise.gyroData.z;
|
|
gyros->setData(gyroData);
|
|
|
|
//Update accelerometer sensor data
|
|
Accels::DataFields accelData;
|
|
memset(&accelData, 0, sizeof(Accels::DataFields));
|
|
accelData.x = out.accX + noise.accelData.x;
|
|
accelData.y = out.accY + noise.accelData.y;
|
|
accelData.z = out.accZ + noise.accelData.z;
|
|
accels->setData(accelData);
|
|
|
|
attRawTime=attRawTime.addMSecs(settings.attRawRate);
|
|
}
|
|
}
|
|
}
|