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https://github.com/ArduPilot/ardupilot.git
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Peter BarkerandClaude Opus 4.8
cf0ca15c5e
Simulates a NoopLoop (LinkTrack) UWB positioning beacon on a serial port, emitting SETTING_FRAME0 (anchor positions) and NODE_FRAME2 (tag position and per-anchor ranges) frames for AP_Beacon_Nooploop to parse. Attach with "--serial5=sim:nooploop". Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Base class for serially-attached simulated positioning beacons
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*/
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#include "SIM_SerialBeacon.h"
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#if AP_SIM_NOOPLOOP_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <SITL/SITL.h>
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using namespace SITL;
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void SerialBeacon::update()
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{
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if (!init_sitl_pointer()) {
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return;
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}
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// send data out at the beacon's reading rate:
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_sent_ms < reading_interval_ms()) {
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return;
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}
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last_sent_ms = now_ms;
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// the beacon system origin is the same as the vehicle/EKF origin:
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const Location &origin = _sitl->state.home;
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if (!origin.initialised()) {
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return;
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}
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// truth location of the simulated vehicle:
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const Location veh_loc {
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int32_t(_sitl->state.latitude * 1.0e7),
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int32_t(_sitl->state.longitude * 1.0e7),
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int32_t(_sitl->state.altitude * 1.0e2),
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Location::AltFrame::ABSOLUTE
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};
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// vehicle position in NED metres relative to the beacon origin:
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const Vector3f pos_ned = origin.get_distance_NED(veh_loc);
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send_data(pos_ned);
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}
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#endif // AP_SIM_NOOPLOOP_ENABLED
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