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102 lines
2.4 KiB
C
102 lines
2.4 KiB
C
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#include "pios.h"
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#include "pios_sim_priv.h"
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#include "sim_model.h"
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struct pios_sim_state pios_sim_state = {
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.accels = {0, 0, 0},
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.gyros = {0, 0, 0},
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.mag = {0, 0, 0},
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.baro = {0},
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.q = {1, 0, 0, 0},
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.velocity = {0, 0, 0},
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.position = {0, 0, 0},
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.actuator = {0, 0, 0, 0, 0, 0, 0, 0}
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};
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/**
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* Initialize the model in the external library
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* @returns 0 for success, -1 if fails to initialize external library
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*/
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int PIOS_SIM_Init()
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{
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if (sim_model_init() != 0)
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return -1;
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return 0;
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}
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/**
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* Step the model simulation in the external library
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* @returns 0 for success, -1 for failure to step external library
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*/
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int PIOS_SIM_Step(float dT)
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{
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if (sim_model_step(dT, &pios_sim_state) != 0)
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return -1;
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return 0;
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}
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/**
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* Set the actuator inputs to the model
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* @param[in] actuator pointer to an array of actuators to set
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* @param[in] nchannels number of channels that are valid coming in
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*/
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void PIOS_SIM_SetActuator(float * actuator, int nchannels)
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{
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for (int i = 0; i < NELEMENTS(pios_sim_state.actuator) && i < nchannels; i++)
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pios_sim_state.actuator[i] = actuator[i];
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}
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/**
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* Get the accelerometer data from the simulation model
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* @param[out] pointer to store the accelerometer data in
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*/
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void PIOS_SIM_GetAccels(float * accels)
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{
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for (int i = 0; i < NELEMENTS(pios_sim_state.accels); i++)
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accels[i] = pios_sim_state.accels[i];
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}
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/**
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* Get the gyro data from the simulation model
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* @param[out] pointer to store the gyro data in
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*/
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void PIOS_SIM_GetGyros(float * gyros)
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{
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for (int i = 0; i < NELEMENTS(pios_sim_state.accels); i++)
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gyros[i] = pios_sim_state.gyros[i];
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}
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/**
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* Get the current attitude from the simulation model
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* @param[out] quat pointer to store the quaternion attitude in
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*/
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void PIOS_SIM_GetAttitude(float * q)
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{
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for (int i = 0; i < NELEMENTS(pios_sim_state.q); i++)
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q[i] = pios_sim_state.q[i];
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}
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/**
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* Get the current positiom from the simulation model
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* @param[out] position pointer to store the current position in (cm in NED
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* frame)
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*/
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void PIOS_SIM_GetVelocity(float * velocity)
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{
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for (int i = 0; i < NELEMENTS(pios_sim_state.velocity); i++)
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velocity[i] = pios_sim_state.velocity[i];
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}
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/**
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* Get the current positiom from the simulation model
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* @param[out] position pointer to store the current position in (cm in NED
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* frame)
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*/
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void PIOS_SIM_GetPosition(float * position)
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{
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for (int i = 0; i < NELEMENTS(pios_sim_state.position); i++)
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position[i] = pios_sim_state.position[i];
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}
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