static void simulateModelAgnostic()
{
float Rbe[3][3];
float q[4];
// Simulate accels based on current attitude
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
Quaternion2R(q,Rbe);
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = -GRAVITY * Rbe[0][2];
accelsData.y = -GRAVITY * Rbe[1][2];
accelsData.z = -GRAVITY * Rbe[2][2];
accelsData.temperature = 30;
AccelsSet(&accelsData);
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rateDesired.Roll + rand_gauss();
gyrosData.y = rateDesired.Pitch + rand_gauss();
gyrosData.z = rateDesired.Yaw + rand_gauss();
// 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);
}
static void simulateConstant()
{
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = 0;
accelsData.y = 0;
accelsData.z = -GRAVITY;
accelsData.temperature = 0;
AccelsSet(&accelsData);
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = 0;
gyrosData.y = 0;
gyrosData.z = 0;
// 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);
}
/**
* Module thread, should not return.
*/
static void altitudeTask(void* parameters)
{
BaroAltitudeData data;
portTickType lastSysTime;
PIOS_BMP085_Init();
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
PIOS_BMP085_ReadADC();
// Convert from 1/10ths of degC to degC
data.Temperature = PIOS_BMP085_GetTemperature() / 10.0;
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
PIOS_BMP085_ReadADC();
// Convert from Pa to kPa
data.Pressure = PIOS_BMP085_GetPressure() / 1000.0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure/ (BMP085_P0 / 1000.0)), (1.0/5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS );
}
}
static void magbaroTask(void *parameters)
{
BaroAltitudeData data;
portTickType lastSysTime;
#if defined(PIOS_INCLUDE_BMP085)
PIOS_BMP085_Init();
#endif
#if defined(PIOS_INCLUDE_HMC5883)
PIOS_HMC5883_Init(PIOS_I2C_MAIN_ADAPTER, &pios_hmc5883_cfg);
#endif
mag_test = 0;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
#if defined(PIOS_INCLUDE_BMP085)
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(5 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_temp += PIOS_BMP085_GetTemperature();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(26 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_pres += PIOS_BMP085_GetPressure();
if (++alt_ds_count >= alt_ds_size)
{
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
#endif
#if defined(PIOS_INCLUDE_HMC5883)
struct pios_sensor_mag_data mags;
xQueueHandle queue = PIOS_SENSORS_GetQueue(PIOS_SENSOR_MAG);
if (queue != NULL && xQueueReceive(queue, (void *) &mags, 0) != errQUEUE_EMPTY) {
update_mags(&mags);
}
#endif
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
}
}
/**
* Module thread, should not return.
*/
static void altitudeTask(void *parameters)
{
BaroAltitudeData data;
portTickType lastSysTime;
#if defined(PIOS_INCLUDE_HCSR04)
SonarAltitudeData sonardata;
int32_t value=0,timeout=5;
float coeff=0.25,height_out=0,height_in=0;
PIOS_HCSR04_Init();
PIOS_HCSR04_Trigger();
#endif
PIOS_BMP085_Init();
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
#if defined(PIOS_INCLUDE_HCSR04)
// Compute the current altitude (all pressures in kPa)
if(PIOS_HCSR04_Completed())
{
value = PIOS_HCSR04_Get();
if((value>100) && (value < 15000)) //from 3.4cm to 5.1m
{
height_in = value*0.00034;
height_out = (height_out * (1 - coeff)) + (height_in * coeff);
sonardata.Altitude = height_out; // m/us
}
// Update the AltitudeActual UAVObject
SonarAltitudeSet(&sonardata);
timeout=5;
PIOS_HCSR04_Trigger();
}
if(timeout--)
{
//retrigger
timeout=5;
PIOS_HCSR04_Trigger();
}
#endif
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(5 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_temp += PIOS_BMP085_GetTemperature();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(26 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_pres += PIOS_BMP085_GetPressure();
if (++alt_ds_count >= alt_ds_size)
{
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
}
}
/**
* This method performs a simple simulation of a car
*
* It takes in the ActuatorDesired command to rotate the aircraft and performs
* a simple kinetic model where the throttle increases the energy and drag decreases
* it. Changing altitude moves energy from kinetic to potential.
*
* 1. Update attitude based on ActuatorDesired
* 2. Update position based on velocity
*/
static void simulateModelCar()
{
static double pos[3] = {0,0,0};
static double vel[3] = {0,0,0};
static double ned_accel[3] = {0,0,0};
static float q[4] = {1,0,0,0};
static float rpy[3] = {0,0,0}; // Low pass filtered actuator
static float baro_offset = 0.0f;
float Rbe[3][3];
const float ACTUATOR_ALPHA = 0.8;
const float MAX_THRUST = 9.81 * 0.5;
const float K_FRICTION = 0.2;
const float GPS_PERIOD = 0.1;
const float MAG_PERIOD = 1.0 / 75.0;
const float BARO_PERIOD = 1.0 / 20.0;
static uint32_t last_time;
float dT = (PIOS_DELAY_DiffuS(last_time) / 1e6);
if(dT < 1e-3)
dT = 2e-3;
last_time = PIOS_DELAY_GetRaw();
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
float thrust = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) ? actuatorDesired.Throttle * MAX_THRUST : 0;
if (thrust < 0)
thrust = 0;
if (thrust != thrust)
thrust = 0;
// float control_scaling = thrust * thrustToDegs;
// // In rad/s
// rpy[0] = control_scaling * actuatorDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
// rpy[1] = control_scaling * actuatorDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
// rpy[2] = control_scaling * actuatorDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
//
// GyrosData gyrosData; // Skip get as we set all the fields
// gyrosData.x = rpy[0] * 180 / M_PI + rand_gauss();
// gyrosData.y = rpy[1] * 180 / M_PI + rand_gauss();
// gyrosData.z = rpy[2] * 180 / M_PI + rand_gauss();
/**** 1. Update attitude ****/
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
// Need to get roll angle for easy cross coupling
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
rpy[0] = 0; // cannot roll
rpy[1] = 0; // cannot pitch
rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rpy[0] + rand_gauss();
gyrosData.y = rpy[1] + rand_gauss();
gyrosData.z = rpy[2] + rand_gauss();
GyrosSet(&gyrosData);
// Predict the attitude forward in time
float qdot[4];
qdot[0] = (-q[1] * rpy[0] - q[2] * rpy[1] - q[3] * rpy[2]) * dT * DEG2RAD / 2;
qdot[1] = (q[0] * rpy[0] - q[3] * rpy[1] + q[2] * rpy[2]) * dT * DEG2RAD / 2;
qdot[2] = (q[3] * rpy[0] + q[0] * rpy[1] - q[1] * rpy[2]) * dT * DEG2RAD / 2;
qdot[3] = (-q[2] * rpy[0] + q[1] * rpy[1] + q[0] * rpy[2]) * dT * DEG2RAD / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
float qmag = sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
if(overideAttitude){
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
attitudeActual.q1 = q[0];
attitudeActual.q2 = q[1];
attitudeActual.q3 = q[2];
attitudeActual.q4 = q[3];
AttitudeActualSet(&attitudeActual);
}
/**** 2. Update position based on velocity ****/
// Rbe takes a vector from body to earth. If we take (1,0,0)^T through this and then dot with airspeed
// we get forward airspeed
Quaternion2R(q,Rbe);
double groundspeed[3] = {vel[0], vel[1], vel[2] };
double forwardSpeed = Rbe[0][0] * groundspeed[0] + Rbe[0][1] * groundspeed[1] + Rbe[0][2] * groundspeed[2];
double sidewaysSpeed = Rbe[1][0] * groundspeed[0] + Rbe[1][1] * groundspeed[1] + Rbe[1][2] * groundspeed[2];
/* Compute aerodynamic forces in body referenced frame. Later use more sophisticated equations */
/* TODO: This should become more accurate. Use the force equations to calculate lift from the */
/* various surfaces based on AoA and airspeed. From that compute torques and forces. For later */
double forces[3]; // X, Y, Z
forces[0] = thrust - forwardSpeed * K_FRICTION; // Friction is applied in all directions in NED
forces[1] = 0 - sidewaysSpeed * K_FRICTION * 100; // No side slip
forces[2] = 0;
// Negate force[2] as NED defines down as possitive, aircraft convention is Z up is positive (?)
ned_accel[0] = forces[0] * Rbe[0][0] + forces[1] * Rbe[1][0] - forces[2] * Rbe[2][0];
ned_accel[1] = forces[0] * Rbe[0][1] + forces[1] * Rbe[1][1] - forces[2] * Rbe[2][1];
ned_accel[2] = 0;
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * (vel[0]);
ned_accel[1] -= K_FRICTION * (vel[1]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;
vel[1] = vel[1] + ned_accel[1] * dT;
vel[2] = vel[2] + ned_accel[2] * dT;
// Predict the position forward in time
pos[0] = pos[0] + vel[0] * dT;
pos[1] = pos[1] + vel[1] * dT;
pos[2] = pos[2] + vel[2] * dT;
// Simulate hitting ground
if(pos[2] > 0) {
pos[2] = 0;
vel[2] = 0;
ned_accel[2] = 0;
}
// Sensor feels gravity (when not acceleration in ned frame e.g. ned_accel[2] = 0)
ned_accel[2] -= GRAVITY;
// Transform the accels back in to body frame
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = ned_accel[0] * Rbe[0][0] + ned_accel[1] * Rbe[0][1] + ned_accel[2] * Rbe[0][2] + accel_bias[0];
accelsData.y = ned_accel[0] * Rbe[1][0] + ned_accel[1] * Rbe[1][1] + ned_accel[2] * Rbe[1][2] + accel_bias[1];
accelsData.z = ned_accel[0] * Rbe[2][0] + ned_accel[1] * Rbe[2][1] + ned_accel[2] * Rbe[2][2] + accel_bias[2];
accelsData.temperature = 30;
AccelsSet(&accelsData);
if(baro_offset == 0) {
// Hacky initialization
baro_offset = 50;// * rand_gauss();
} else {
// Very small drift process
baro_offset += rand_gauss() / 100;
}
// Update baro periodically
static uint32_t last_baro_time = 0;
if(PIOS_DELAY_DiffuS(last_baro_time) / 1.0e6 > BARO_PERIOD) {
BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
baroAltitude.Altitude = -pos[2] + baro_offset;
BaroAltitudeSet(&baroAltitude);
last_baro_time = PIOS_DELAY_GetRaw();
}
HomeLocationData homeLocation;
HomeLocationGet(&homeLocation);
static float gps_vel_drift[3] = {0,0,0};
gps_vel_drift[0] = gps_vel_drift[0] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[1] = gps_vel_drift[1] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[2] = gps_vel_drift[2] * 0.65 + rand_gauss() / 5.0;
// Update GPS periodically
static uint32_t last_gps_time = 0;
if(PIOS_DELAY_DiffuS(last_gps_time) / 1.0e6 > GPS_PERIOD) {
// Use double precision here as simulating what GPS produces
double T[3];
T[0] = homeLocation.Altitude+6.378137E6f * DEG2RAD;
T[1] = cosf(homeLocation.Latitude / 10e6 * DEG2RAD)*(homeLocation.Altitude+6.378137E6) * DEG2RAD;
T[2] = -1.0;
static float gps_drift[3] = {0,0,0};
gps_drift[0] = gps_drift[0] * 0.95 + rand_gauss() / 10.0;
gps_drift[1] = gps_drift[1] * 0.95 + rand_gauss() / 10.0;
gps_drift[2] = gps_drift[2] * 0.95 + rand_gauss() / 10.0;
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = homeLocation.Latitude + ((pos[0] + gps_drift[0]) / T[0] * 10.0e6);
gpsPosition.Longitude = homeLocation.Longitude + ((pos[1] + gps_drift[1])/ T[1] * 10.0e6);
gpsPosition.Altitude = homeLocation.Altitude + ((pos[2] + gps_drift[2]) / T[2]);
gpsPosition.Groundspeed = sqrtf(pow(vel[0] + gps_vel_drift[0],2) + pow(vel[1] + gps_vel_drift[1],2));
gpsPosition.Heading = 180 / M_PI * atan2f(vel[1] + gps_vel_drift[1],vel[0] + gps_vel_drift[0]);
gpsPosition.Satellites = 7;
gpsPosition.PDOP = 1;
GPSPositionSet(&gpsPosition);
last_gps_time = PIOS_DELAY_GetRaw();
}
// Update GPS Velocity measurements
static uint32_t last_gps_vel_time = 1000; // Delay by a millisecond
if(PIOS_DELAY_DiffuS(last_gps_vel_time) / 1.0e6 > GPS_PERIOD) {
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
gpsVelocity.North = vel[0] + gps_vel_drift[0];
gpsVelocity.East = vel[1] + gps_vel_drift[1];
gpsVelocity.Down = vel[2] + gps_vel_drift[2];
GPSVelocitySet(&gpsVelocity);
last_gps_vel_time = PIOS_DELAY_GetRaw();
}
// Update mag periodically
static uint32_t last_mag_time = 0;
if(PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
MagnetometerData mag;
mag.x = 100+homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
mag.y = 100+homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
mag.z = 100+homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
last_mag_time = PIOS_DELAY_GetRaw();
}
AttitudeSimulatedData attitudeSimulated;
AttitudeSimulatedGet(&attitudeSimulated);
attitudeSimulated.q1 = q[0];
attitudeSimulated.q2 = q[1];
attitudeSimulated.q3 = q[2];
attitudeSimulated.q4 = q[3];
Quaternion2RPY(q,&attitudeSimulated.Roll);
attitudeSimulated.Position[0] = pos[0];
attitudeSimulated.Position[1] = pos[1];
attitudeSimulated.Position[2] = pos[2];
attitudeSimulated.Velocity[0] = vel[0];
attitudeSimulated.Velocity[1] = vel[1];
attitudeSimulated.Velocity[2] = vel[2];
AttitudeSimulatedSet(&attitudeSimulated);
}
static void simulateModelQuadcopter()
{
static double pos[3] = {0,0,0};
static double vel[3] = {0,0,0};
static double ned_accel[3] = {0,0,0};
static float q[4] = {1,0,0,0};
static float rpy[3] = {0,0,0}; // Low pass filtered actuator
static float baro_offset = 0.0f;
static float temperature = 20;
float Rbe[3][3];
const float ACTUATOR_ALPHA = 0.8;
const float MAX_THRUST = GRAVITY * 2;
const float K_FRICTION = 1;
const float GPS_PERIOD = 0.1;
const float MAG_PERIOD = 1.0 / 75.0;
const float BARO_PERIOD = 1.0 / 20.0;
static uint32_t last_time;
float dT = (PIOS_DELAY_DiffuS(last_time) / 1e6);
if(dT < 1e-3)
dT = 2e-3;
last_time = PIOS_DELAY_GetRaw();
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
float thrust = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) ? actuatorDesired.Throttle * MAX_THRUST : 0;
if (thrust < 0)
thrust = 0;
if (thrust != thrust)
thrust = 0;
// float control_scaling = thrust * thrustToDegs;
// // In rad/s
// rpy[0] = control_scaling * actuatorDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
// rpy[1] = control_scaling * actuatorDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
// rpy[2] = control_scaling * actuatorDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
//
// GyrosData gyrosData; // Skip get as we set all the fields
// gyrosData.x = rpy[0] * 180 / M_PI + rand_gauss();
// gyrosData.y = rpy[1] * 180 / M_PI + rand_gauss();
// gyrosData.z = rpy[2] * 180 / M_PI + rand_gauss();
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
rpy[0] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
rpy[1] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
temperature = 20;
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rpy[0] + rand_gauss() + (temperature - 20) * 1 + powf(temperature - 20,2) * 0.11; // - powf(temperature - 20,3) * 0.05;;
gyrosData.y = rpy[1] + rand_gauss() + (temperature - 20) * 1 + powf(temperature - 20,2) * 0.11;;
gyrosData.z = rpy[2] + rand_gauss() + (temperature - 20) * 1 + powf(temperature - 20,2) * 0.11;;
gyrosData.temperature = temperature;
GyrosSet(&gyrosData);
// Predict the attitude forward in time
float qdot[4];
qdot[0] = (-q[1] * rpy[0] - q[2] * rpy[1] - q[3] * rpy[2]) * dT * DEG2RAD / 2;
qdot[1] = (q[0] * rpy[0] - q[3] * rpy[1] + q[2] * rpy[2]) * dT * DEG2RAD / 2;
qdot[2] = (q[3] * rpy[0] + q[0] * rpy[1] - q[1] * rpy[2]) * dT * DEG2RAD / 2;
qdot[3] = (-q[2] * rpy[0] + q[1] * rpy[1] + q[0] * rpy[2]) * dT * DEG2RAD / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
float qmag = sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
if(overideAttitude){
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
attitudeActual.q1 = q[0];
attitudeActual.q2 = q[1];
attitudeActual.q3 = q[2];
attitudeActual.q4 = q[3];
AttitudeActualSet(&attitudeActual);
}
static float wind[3] = {0,0,0};
wind[0] = wind[0] * 0.95 + rand_gauss() / 10.0;
wind[1] = wind[1] * 0.95 + rand_gauss() / 10.0;
wind[2] = wind[2] * 0.95 + rand_gauss() / 10.0;
Quaternion2R(q,Rbe);
// Make thrust negative as down is positive
ned_accel[0] = -thrust * Rbe[2][0];
ned_accel[1] = -thrust * Rbe[2][1];
// Gravity causes acceleration of 9.81 in the down direction
ned_accel[2] = -thrust * Rbe[2][2] + GRAVITY;
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * (vel[0] - wind[0]);
ned_accel[1] -= K_FRICTION * (vel[1] - wind[1]);
ned_accel[2] -= K_FRICTION * (vel[2] - wind[2]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;
vel[1] = vel[1] + ned_accel[1] * dT;
vel[2] = vel[2] + ned_accel[2] * dT;
// Predict the position forward in time
pos[0] = pos[0] + vel[0] * dT;
pos[1] = pos[1] + vel[1] * dT;
pos[2] = pos[2] + vel[2] * dT;
// Simulate hitting ground
if(pos[2] > 0) {
pos[2] = 0;
vel[2] = 0;
ned_accel[2] = 0;
}
// Sensor feels gravity (when not acceleration in ned frame e.g. ned_accel[2] = 0)
ned_accel[2] -= 9.81;
// Transform the accels back in to body frame
AccelsData accelsData; // Skip get as we set all the fields
accelsData.x = ned_accel[0] * Rbe[0][0] + ned_accel[1] * Rbe[0][1] + ned_accel[2] * Rbe[0][2] + accel_bias[0];
accelsData.y = ned_accel[0] * Rbe[1][0] + ned_accel[1] * Rbe[1][1] + ned_accel[2] * Rbe[1][2] + accel_bias[1];
accelsData.z = ned_accel[0] * Rbe[2][0] + ned_accel[1] * Rbe[2][1] + ned_accel[2] * Rbe[2][2] + accel_bias[2];
accelsData.temperature = 30;
AccelsSet(&accelsData);
if(baro_offset == 0) {
// Hacky initialization
baro_offset = 50;// * rand_gauss();
} else {
// Very small drift process
baro_offset += rand_gauss() / 100;
}
// Update baro periodically
static uint32_t last_baro_time = 0;
if(PIOS_DELAY_DiffuS(last_baro_time) / 1.0e6 > BARO_PERIOD) {
BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
baroAltitude.Altitude = -pos[2] + baro_offset;
BaroAltitudeSet(&baroAltitude);
last_baro_time = PIOS_DELAY_GetRaw();
}
HomeLocationData homeLocation;
HomeLocationGet(&homeLocation);
static float gps_vel_drift[3] = {0,0,0};
gps_vel_drift[0] = gps_vel_drift[0] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[1] = gps_vel_drift[1] * 0.65 + rand_gauss() / 5.0;
gps_vel_drift[2] = gps_vel_drift[2] * 0.65 + rand_gauss() / 5.0;
// Update GPS periodically
static uint32_t last_gps_time = 0;
if(PIOS_DELAY_DiffuS(last_gps_time) / 1.0e6 > GPS_PERIOD) {
// Use double precision here as simulating what GPS produces
double T[3];
T[0] = homeLocation.Altitude+6.378137E6f * DEG2RAD;
T[1] = cosf(homeLocation.Latitude / 10e6 * DEG2RAD)*(homeLocation.Altitude+6.378137E6) * DEG2RAD;
T[2] = -1.0;
static float gps_drift[3] = {0,0,0};
gps_drift[0] = gps_drift[0] * 0.95 + rand_gauss() / 10.0;
gps_drift[1] = gps_drift[1] * 0.95 + rand_gauss() / 10.0;
gps_drift[2] = gps_drift[2] * 0.95 + rand_gauss() / 10.0;
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);
gpsPosition.Latitude = homeLocation.Latitude + ((pos[0] + gps_drift[0]) / T[0] * 10.0e6);
gpsPosition.Longitude = homeLocation.Longitude + ((pos[1] + gps_drift[1])/ T[1] * 10.0e6);
gpsPosition.Altitude = homeLocation.Altitude + ((pos[2] + gps_drift[2]) / T[2]);
gpsPosition.Groundspeed = sqrtf(pow(vel[0] + gps_vel_drift[0],2) + pow(vel[1] + gps_vel_drift[1],2));
gpsPosition.Heading = 180 / M_PI * atan2f(vel[1] + gps_vel_drift[1],vel[0] + gps_vel_drift[0]);
gpsPosition.Satellites = 7;
gpsPosition.PDOP = 1;
gpsPosition.Status = GPSPOSITION_STATUS_FIX3D;
GPSPositionSet(&gpsPosition);
last_gps_time = PIOS_DELAY_GetRaw();
}
// Update GPS Velocity measurements
static uint32_t last_gps_vel_time = 1000; // Delay by a millisecond
if(PIOS_DELAY_DiffuS(last_gps_vel_time) / 1.0e6 > GPS_PERIOD) {
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
gpsVelocity.North = vel[0] + gps_vel_drift[0];
gpsVelocity.East = vel[1] + gps_vel_drift[1];
gpsVelocity.Down = vel[2] + gps_vel_drift[2];
GPSVelocitySet(&gpsVelocity);
last_gps_vel_time = PIOS_DELAY_GetRaw();
}
// Update mag periodically
static uint32_t last_mag_time = 0;
if(PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
MagnetometerData mag;
mag.x = homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
mag.y = homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
mag.z = homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
// Run the offset compensation algorithm from the firmware
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
last_mag_time = PIOS_DELAY_GetRaw();
}
AttitudeSimulatedData attitudeSimulated;
AttitudeSimulatedGet(&attitudeSimulated);
attitudeSimulated.q1 = q[0];
attitudeSimulated.q2 = q[1];
attitudeSimulated.q3 = q[2];
attitudeSimulated.q4 = q[3];
Quaternion2RPY(q,&attitudeSimulated.Roll);
attitudeSimulated.Position[0] = pos[0];
attitudeSimulated.Position[1] = pos[1];
attitudeSimulated.Position[2] = pos[2];
attitudeSimulated.Velocity[0] = vel[0];
attitudeSimulated.Velocity[1] = vel[1];
attitudeSimulated.Velocity[2] = vel[2];
AttitudeSimulatedSet(&attitudeSimulated);
}
