/*
setup the ADC channels with new input
Note that this uses roll, pitch and yaw only as inputs. The
simulator rollrates are instantaneous, whereas we need to use
average rates to cope with slow update rates.
inputs are in degrees
phi - roll
theta - pitch
psi - true heading
alpha - angle of attack
beta - side slip
phidot - roll rate
thetadot - pitch rate
psidot - yaw rate
v_north - north velocity in local/body frame
v_east - east velocity in local/body frame
v_down - down velocity in local/body frame
A_X_pilot - X accel in body frame
A_Y_pilot - Y accel in body frame
A_Z_pilot - Z accel in body frame
Note: doubles on high prec. stuff are preserved until the last moment
*/
void sitl_update_adc(float roll, float pitch, float yaw, // Relative to earth
double rollRate, double pitchRate,double yawRate, // Local to plane
double xAccel, double yAccel, double zAccel, // Local to plane
float airspeed)
{
static const uint8_t sensor_map[6] = { 1, 2, 0, 4, 5, 6 };
static const float _sensor_signs[6] = { 1, -1, -1, 1, -1, -1 };
const float accel_offset = 2041;
const float gyro_offset = 1658;
#define ToRad(x) (x*0.01745329252) // *pi/180
const float _gyro_gain_x = ToRad(0.4);
const float _gyro_gain_y = ToRad(0.41);
const float _gyro_gain_z = ToRad(0.41);
const float _accel_scale = 9.80665 / 423.8;
double adc[7];
double phi, theta, phiDot, thetaDot, psiDot;
double p, q, r;
/* convert the angular velocities from earth frame to
body frame. Thanks to James Goppert for the formula
*/
phi = ToRad(roll);
theta = ToRad(pitch);
phiDot = ToRad(rollRate);
thetaDot = ToRad(pitchRate);
psiDot = ToRad(yawRate);
p = phiDot - psiDot*sin(theta);
q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta);
r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot;
/* work out the ADC channel values */
adc[0] = (p / (_gyro_gain_x * _sensor_signs[0])) + gyro_offset;
adc[1] = (q / (_gyro_gain_y * _sensor_signs[1])) + gyro_offset;
adc[2] = (r / (_gyro_gain_z * _sensor_signs[2])) + gyro_offset;
adc[3] = (xAccel / (_accel_scale * _sensor_signs[3])) + accel_offset;
adc[4] = (yAccel / (_accel_scale * _sensor_signs[4])) + accel_offset;
adc[5] = (zAccel / (_accel_scale * _sensor_signs[5])) + accel_offset;
/* tell the UDR2 register emulation what values to give to the driver */
for (uint8_t i=0; i<6; i++) {
UDR2.set(sensor_map[i], adc[i]);
}
runInterrupt(6);
// set the airspeed sensor input
UDR2.set(7, airspeed_sensor(airspeed));
/* FIX: rubbish value for temperature for now */
UDR2.set(3, 2000);
#if 0
extern AP_DCM_HIL dcm;
dcm.setHil(ToRad(roll), ToRad(pitch), ToRad(yaw),
ToRad(rollRate), ToRad(pitchRate), ToRad(yawRate));
#endif
static uint32_t last_report;
uint32_t tnow = millis();
extern AP_DCM dcm;
Vector3f omega = dcm.get_gyro();
// report roll/pitch discrepancies
if (tnow - last_report > 5000 ||
(tnow - last_report > 1000 &&
(fabs(roll - dcm.roll_sensor/100.0) > 5.0 ||
fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) {
last_report = tnow;
/*printf("roll=%5.1f / %5.1f pitch=%5.1f / %5.1f rr=%5.2f / %5.2f pr=%5.2f / %5.2f\n",
roll, dcm.roll_sensor/100.0,
pitch, dcm.pitch_sensor/100.0,
rollRate, ToDeg(omega.x),
pitchRate, ToDeg(omega.y));
*/
}
}
/*
setup the ADC channels with new input
Note that this uses roll, pitch and yaw only as inputs. The
simulator rollrates are instantaneous, whereas we need to use
average rates to cope with slow update rates.
inputs are in degrees
phi - roll
theta - pitch
psi - true heading
alpha - angle of attack
beta - side slip
phidot - roll rate
thetadot - pitch rate
psidot - yaw rate
v_north - north velocity in local/body frame
v_east - east velocity in local/body frame
v_down - down velocity in local/body frame
A_X_pilot - X accel in body frame
A_Y_pilot - Y accel in body frame
A_Z_pilot - Z accel in body frame
Note: doubles on high prec. stuff are preserved until the last moment
*/
void sitl_update_adc(float roll, float pitch, float yaw, // Relative to earth
double rollRate, double pitchRate,double yawRate, // Local to plane
double xAccel, double yAccel, double zAccel, // Local to plane
float airspeed)
{
static const uint8_t sensor_map[6] = { 1, 2, 0, 4, 5, 6 };
static const float _sensor_signs[6] = { 1, -1, -1, 1, -1, -1 };
const float accel_offset = 2041;
const float gyro_offset = 1658;
const float _gyro_gain_x = ToRad(0.4);
const float _gyro_gain_y = ToRad(0.41);
const float _gyro_gain_z = ToRad(0.41);
const float _accel_scale = 9.80665 / 423.8;
double adc[7];
double p, q, r;
extern float sitl_motor_speed[4];
bool motors_on = false;
SITL::convert_body_frame(roll, pitch,
rollRate, pitchRate, yawRate,
&p, &q, &r);
for (uint8_t i=0; i<4; i++) {
if (sitl_motor_speed[i] > 0.0) {
motors_on = true;
}
}
// minimum noise levels are 2 bits
float accel_noise = _accel_scale*2;
float gyro_noise = _gyro_gain_y*2;
if (motors_on) {
// add extra noise when the motors are on
accel_noise += sitl.accel_noise;
gyro_noise += ToRad(sitl.gyro_noise);
}
xAccel += accel_noise * rand_float();
yAccel += accel_noise * rand_float();
zAccel += accel_noise * rand_float();
p += gyro_noise * rand_float();
q += gyro_noise * rand_float();
r += gyro_noise * rand_float();
p += gyro_drift();
q += gyro_drift();
r += gyro_drift();
/* work out the ADC channel values */
adc[0] = (p / (_gyro_gain_x * _sensor_signs[0])) + gyro_offset;
adc[1] = (q / (_gyro_gain_y * _sensor_signs[1])) + gyro_offset;
adc[2] = (r / (_gyro_gain_z * _sensor_signs[2])) + gyro_offset;
adc[3] = (xAccel / (_accel_scale * _sensor_signs[3])) + accel_offset;
adc[4] = (yAccel / (_accel_scale * _sensor_signs[4])) + accel_offset;
adc[5] = (zAccel / (_accel_scale * _sensor_signs[5])) + accel_offset;
/* tell the UDR2 register emulation what values to give to the driver */
for (uint8_t i=0; i<6; i++) {
UDR2.set(sensor_map[i], adc[i]);
}
// set the airspeed sensor input
UDR2.set(7, airspeed_sensor(airspeed));
/* FIX: rubbish value for temperature for now */
UDR2.set(3, 2000);
runInterrupt(6);
}
