// Update raw magnetometer values from HIL data
//
void Compass::setHIL(uint8_t instance, float roll, float pitch, float yaw)
{
Matrix3f R;
// create a rotation matrix for the given attitude
R.from_euler(roll, pitch, yaw);
if (!is_equal(_hil.last_declination,get_declination())) {
_setup_earth_field();
_hil.last_declination = get_declination();
}
// convert the earth frame magnetic vector to body frame, and
// apply the offsets
_hil.field[instance] = R.mul_transpose(_hil.Bearth);
// apply default board orientation for this compass type. This is
// a noop on most boards
_hil.field[instance].rotate(MAG_BOARD_ORIENTATION);
// add user selectable orientation
_hil.field[instance].rotate((enum Rotation)_state[0].orientation.get());
if (!_state[0].external) {
// and add in AHRS_ORIENTATION setting if not an external compass
_hil.field[instance].rotate(_board_orientation);
}
_hil.healthy[instance] = true;
}
// Update raw magnetometer values from HIL data
//
void AP_Compass_HIL::setHIL(float roll, float pitch, float yaw)
{
Matrix3f R;
// create a rotation matrix for the given attitude
R.from_euler(roll, pitch, yaw);
if (_last_declination != _declination.get()) {
_setup_earth_field();
_last_declination = _declination.get();
}
// convert the earth frame magnetic vector to body frame, and
// apply the offsets
_hil_mag = R.mul_transpose(_Bearth);
_hil_mag -= Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z);
// apply default board orientation for this compass type. This is
// a noop on most boards
_hil_mag.rotate(MAG_BOARD_ORIENTATION);
// add user selectable orientation
_hil_mag.rotate((enum Rotation)_orientation.get());
// and add in AHRS_ORIENTATION setting
_hil_mag.rotate(_board_orientation);
healthy = true;
}
/*
update the optical flow with new data
*/
void SITL_State::_update_flow(void)
{
Vector3f gyro;
static uint32_t last_flow_ms;
if (!_optical_flow ||
!_sitl->flow_enable) {
return;
}
// update at the requested rate
uint32_t now = hal.scheduler->millis();
if (now - last_flow_ms < 1000*(1.0f/_sitl->flow_rate)) {
return;
}
last_flow_ms = now;
gyro(radians(_sitl->state.rollRate),
radians(_sitl->state.pitchRate),
radians(_sitl->state.yawRate));
OpticalFlow::OpticalFlow_state state;
// NED velocity vector in m/s
Vector3f velocity(_sitl->state.speedN,
_sitl->state.speedE,
_sitl->state.speedD);
// a rotation matrix following DCM conventions
Matrix3f rotmat;
rotmat.from_euler(radians(_sitl->state.rollDeg),
radians(_sitl->state.pitchDeg),
radians(_sitl->state.yawDeg));
state.device_id = 1;
state.surface_quality = 255;
// estimate range to centre of image
float range;
if (rotmat.c.z > 0.05f && height_agl() > 0) {
range = height_agl() / rotmat.c.z;
} else {
range = 1e38f;
}
// Calculate relative velocity in sensor frame assuming no misalignment between sensor and vehicle body axes
Vector3f relVelSensor = rotmat.mul_transpose(velocity);
// Divide velocity by range and add body rates to get predicted sensed angular
// optical rates relative to X and Y sensor axes assuming no misalignment or scale
// factor error. Note - these are instantaneous values. The sensor sums these values across the interval from the last
// poll to provide a delta angle across the interface
state.flowRate.x = -relVelSensor.y/range + gyro.x;
state.flowRate.y = relVelSensor.x/range + gyro.y;
// The flow sensors body rates are assumed to be the same as the vehicle body rates (ie no misalignment)
// Note - these are instantaneous values. The sensor sums these values across the interval from the last
// poll to provide a delta angle across the interface.
state.bodyRate = Vector2f(gyro.x, gyro.y);
optflow_data[next_optflow_index++] = state;
if (next_optflow_index >= optflow_delay+1) {
next_optflow_index = 0;
}
state = optflow_data[next_optflow_index];
if (_sitl->flow_delay != optflow_delay) {
// cope with updates to the delay control
if (_sitl->flow_delay > MAX_OPTFLOW_DELAY) {
_sitl->flow_delay = MAX_OPTFLOW_DELAY;
}
optflow_delay = _sitl->flow_delay;
for (uint8_t i=0; i<optflow_delay; i++) {
optflow_data[i] = state;
}
}
_optical_flow->setHIL(state);
}