Add sensor airspeed sim

This commit adds the airspeed sensor sim to simulate airspeed sensors

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -55,7 +55,6 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1
 
 param set-default COM_PREARM_MODE 2
-param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -80,6 +80,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+			sensor_airspeed_sim start
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -93,6 +94,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+			sensor_airspeed_sim start
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -107,6 +109,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+			sensor_airspeed_sim start
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"

src/modules/simulation/Kconfig

@@ -4,6 +4,7 @@ menu "Simulation"
         default n
         select MODULES_SIMULATION_BATTERY_SIMULATOR
         select MODULES_SIMULATION_PWM_OUT_SIM
+        select MODULES_SIMULATION_SENSOR_AIRSPEED_SIM
         select MODULES_SIMULATION_SENSOR_BARO_SIM
         select MODULES_SIMULATION_SENSOR_GPS_SIM
         select MODULES_SIMULATION_SENSOR_MAG_SIM

src/modules/simulation/sensor_airspeed_sim/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__simulation__sensor_airspeed_sim
+	MAIN sensor_airspeed_sim
+	COMPILE_FLAGS
+	SRCS
+		SensorAirspeedSim.cpp
+		SensorAirspeedSim.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/simulation/sensor_airspeed_sim/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SENSOR_AIRSPEED_SIM
+	bool "sensor_airspeed_sim"
+	default n
+	---help---
+		Enable support for sensor_airspeed_sim

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

@@ -0,0 +1,206 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "SensorAirspeedSim.hpp"
+
+#include <drivers/drv_sensor.h>
+#include <lib/drivers/device/Device.hpp>
+#include <lib/geo/geo.h>
+
+using namespace matrix;
+
+SensorAirspeedSim::SensorAirspeedSim() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+SensorAirspeedSim::~SensorAirspeedSim()
+{
+	perf_free(_loop_perf);
+}
+
+bool SensorAirspeedSim::init()
+{
+	ScheduleOnInterval(125_ms); // 8 Hz
+	return true;
+}
+
+float SensorAirspeedSim::generate_wgn()
+{
+	// generate white Gaussian noise sample with std=1
+
+	// algorithm 1:
+	// float temp=((float)(rand()+1))/(((float)RAND_MAX+1.0f));
+	// return sqrtf(-2.0f*logf(temp))*cosf(2.0f*M_PI_F*rand()/RAND_MAX);
+	// algorithm 2: from BlockRandGauss.hpp
+	static float V1, V2, S;
+	static bool phase = true;
+	float X;
+
+	if (phase) {
+		do {
+			float U1 = (float)rand() / (float)RAND_MAX;
+			float U2 = (float)rand() / (float)RAND_MAX;
+			V1 = 2.0f * U1 - 1.0f;
+			V2 = 2.0f * U2 - 1.0f;
+			S = V1 * V1 + V2 * V2;
+		} while (S >= 1.0f || fabsf(S) < 1e-8f);
+
+		X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));
+
+	} else {
+		X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
+	}
+
+	phase = !phase;
+	return X;
+}
+
+void SensorAirspeedSim::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+
+	// Check if parameters have changed
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		updateParams();
+	}
+
+	if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()
+	    && _vehicle_attitude_sub.updated()) {
+
+		vehicle_local_position_s lpos{};
+		_vehicle_local_position_sub.copy(&lpos);
+
+		vehicle_global_position_s gpos{};
+		_vehicle_global_position_sub.copy(&gpos);
+
+		vehicle_attitude_s attitude{};
+		_vehicle_attitude_sub.copy(&attitude);
+
+		Vector3f local_velocity = Vector3f{lpos.vx, lpos.vy, lpos.vz};
+		Vector3f body_velocity = Dcmf{Quatf{attitude.q}} .transpose() * local_velocity;
+
+		// device id
+		device::Device::DeviceId device_id;
+		device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
+		device_id.devid_s.bus = 0;
+		device_id.devid_s.address = 0;
+		device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SIM;
+
+		const float alt_amsl = gpos.alt;
+		const float temperature_local = TEMPERATURE_MSL - LAPSE_RATE * alt_amsl;
+		const float density_ratio = powf(TEMPERATURE_MSL / temperature_local, 4.256f);
+		const float air_density = AIR_DENSITY_MSL / density_ratio;
+
+		// calculate differential pressure + noise in hPa
+		const float diff_pressure_noise = (float)generate_wgn() * 0.01f;
+		float diff_pressure = sign(body_velocity(0)) * 0.005f * air_density  * body_velocity(0) * body_velocity(
+					      0) + diff_pressure_noise;
+
+
+		differential_pressure_s differential_pressure{};
+		// report.timestamp_sample = time;
+		differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
+		differential_pressure.differential_pressure_pa = (double)diff_pressure * 100.0; // hPa to Pa;
+		differential_pressure.temperature = temperature_local;
+		differential_pressure.timestamp = hrt_absolute_time();
+		_differential_pressure_pub.publish(differential_pressure);
+
+	}
+
+	perf_end(_loop_perf);
+}
+
+int SensorAirspeedSim::task_spawn(int argc, char *argv[])
+{
+	SensorAirspeedSim *instance = new SensorAirspeedSim();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorAirspeedSim::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorAirspeedSim::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_arispeed_sim", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_airspeed_sim_main(int argc, char *argv[])
+{
+	return SensorAirspeedSim::main(argc, argv);
+}

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
+
+using namespace time_literals;
+
+static constexpr float TEMPERATURE_MSL = 288.15; // temperature at MSL [K] (15 [C])
+static constexpr float PRESSURE_MSL = 101325.0; // pressure at MSL [Pa]
+static constexpr float LAPSE_RATE = 0.0065; // reduction in temperature with altitude for troposphere [K/m]
+static constexpr float AIR_DENSITY_MSL = 1.225; // air density at MSL [kg/m^3]
+
+class SensorAirspeedSim : public ModuleBase<SensorAirspeedSim>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	SensorAirspeedSim();
+	~SensorAirspeedSim() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	// generate white Gaussian noise sample with std=1
+	static float generate_wgn();
+
+	// generate white Gaussian noise sample as a 3D vector with specified std
+	matrix::Vector3f noiseGauss3f(float stdx, float stdy, float stdz) { return matrix::Vector3f(generate_wgn() * stdx, generate_wgn() * stdy, generate_wgn() * stdz); }
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position_groundtruth)};
+
+	uORB::PublicationMulti<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
+
+	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+
+	// DEFINE_PARAMETERS(
+	// 	(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used
+	// )
+};

src/modules/simulation/sensor_airspeed_sim/parameters.c

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * simulated GPS number of satellites used
+ *
+ * @min 0
+ * @max  50
+ * @group Simulator
+ */
+// PARAM_DEFINE_INT32(SIM_GPS_USED, 10);