updates to gazebo so simulate pressure and acceleration (#2120)

conf/Makefile.nps

@@ -32,7 +32,14 @@ DEBUG_FLAGS ?= -ggdb3
 # Launch with "make Q=''" to get full command display
 Q=@
 
-CFLAGS  = -W -Wall
+# flags for warnings (C and C++)
+WARN_FLAGS += -W -Wall -Wextra
+WARN_FLAGS += -Wunused -Wcast-align -Wpointer-arith -Wswitch-default -Wmissing-declarations
+#WARN_FLAGS += -Wcast-qual
+#WARN_FLAGS += -Wredundant-decls
+#WARN_FLAGS += -Wshadow
+
+CFLAGS  = $(WARN_FLAGS)
 CFLAGS += $(INCLUDES)
 CFLAGS += $($(TARGET).CFLAGS)
 CFLAGS += $(USER_CFLAGS) $(BOARD_CFLAGS)
@@ -41,7 +48,7 @@ CFLAGS += $(DEBUG_FLAGS)
 CFLAGS += -std=gnu99
 CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)
 
-CXXFLAGS  = -W -Wall
+CXXFLAGS  = $(WARN_FLAGS)
 CXXFLAGS += $(INCLUDES)
 CXXFLAGS += $($(TARGET).CFLAGS)
 CXXFLAGS += $($(TARGET).CXXFLAGS)

conf/modules/fdm_gazebo.xml

@@ -83,10 +83,15 @@
   <header/>
   <makefile target="nps">
   	<raw>
-  	nps.CXXFLAGS  += $(shell pkg-config gazebo --cflags)
+          nps.CXXFLAGS += $(shell pkg-config gazebo --cflags opencv)
-    nps.LDFLAGS += $(shell pkg-config gazebo --libs)
+          nps.LDFLAGS  += $(shell pkg-config gazebo --libs)
   	</raw>
     <file name="nps_fdm_gazebo.cpp" dir="nps"/>
+
+    <!--OPENCV-->
+    <flag name="LDFLAGS" value="lopencv_imgproc" />
+    <flag name="LDFLAGS" value="lopencv_highgui" />
+    <flag name="LDFLAGS" value="lopencv_core" />
   </makefile>
 </module>
 

sw/airborne/arch/sim/mcu_arch.c

@@ -1,3 +1,4 @@
 
+#include "mcu_arch.h"
 
 void mcu_arch_init(void) {}

sw/airborne/arch/sim/mcu_periph/i2c_arch.c

@@ -30,7 +30,7 @@
 bool i2c_idle(struct i2c_periph *p __attribute__((unused))) { return true; }
 bool i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return true;}
 void i2c_event(void) { }
-void i2c2_setbitrate(int bitrate __attribute__((unused))) { }
+void i2c_setbitrate(struct i2c_periph *p __attribute__((unused)), int bitrate __attribute__((unused))) { }
 
 #if USE_I2C0
 struct i2c_errors i2c0_errors;

sw/simulator/nps/nps_autopilot_fixedwing.c

@@ -146,11 +146,13 @@ void nps_autopilot_run_step(double time)
   }
 #endif
 
+#ifndef NPS_NO_GPS
   if (nps_sensors_gps_available()) {
     gps_feed_value();
     Fbw(event_task);
     Ap(event_task);
   }
+#endif
 
 #if USE_SONAR
   if (nps_sensors_sonar_available()) {

sw/simulator/nps/nps_autopilot_rotorcraft.c

@@ -140,7 +140,7 @@ void nps_autopilot_run_step(double time)
   }
 #endif
 
-#if USE_GPS
+#if USE_GPS && !defined(NPS_NO_GPS)
   if (nps_sensors_gps_available()) {
     gps_feed_value();
     main_event();

sw/simulator/nps/nps_fdm_gazebo.cpp

@@ -31,10 +31,19 @@
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 
+
+#ifdef NPS_DEBUG_VIDEO
+// Opencv tools
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#endif
+
 #include <cstdio>
 #include <cstdlib>
 #include <string>
 #include <iostream>
+#include <sys/time.h>
 
 #include <gazebo/gazebo.hh>
 #include <gazebo/common/common.hh>
@@ -43,20 +52,13 @@
 #include <gazebo/gazebo_config.h>
 
 extern "C" {
-#include <sys/time.h>
-
 #include "nps_fdm.h"
-#include "math/pprz_algebra_double.h"
 
 #include "generated/airframe.h"
 #include "autopilot.h"
 
-#ifdef NPS_SIMULATE_VIDEO
+#include "math/pprz_isa.h"
-#include "modules/computer_vision/cv.h"
+#include "math/pprz_algebra_double.h"
-#include "modules/computer_vision/video_thread_nps.h"
-#include "modules/computer_vision/lib/vision/image.h"
-#include "mcu_periph/sys_time.h"
-#endif
 }
 
 using namespace std;
@@ -70,6 +72,13 @@ using namespace std;
 
 // Add video handling functions if req'd.
 #ifdef NPS_SIMULATE_VIDEO
+extern "C" {
+#include "modules/computer_vision/cv.h"
+#include "modules/computer_vision/video_thread_nps.h"
+#include "modules/computer_vision/lib/vision/image.h"
+#include "mcu_periph/sys_time.h"
+}
+
 static void init_gazebo_video(void);
 static void gazebo_read_video(void);
 static void read_image(
@@ -90,10 +99,13 @@ struct NpsFdm fdm;
 static bool gazebo_initialized = false;
 static gazebo::physics::ModelPtr model = NULL;
 
+// Get contact sensor
+static gazebo::sensors::ContactSensorPtr ct;
+
 // Helper functions
 static void init_gazebo(void);
 static void gazebo_read(void);
-static void gazebo_write(double commands[], int commands_nb);
+static void gazebo_write(double act_commands[], int commands_nb);
 
 // Conversion routines
 inline struct EcefCoor_d to_pprz_ecef(ignition::math::Vector3d ecef_i)
@@ -175,12 +187,12 @@ void nps_fdm_init(double dt)
 /**
  * Update the simulation state.
  * @param launch
- * @param commands
+ * @param act_commands
  * @param commands_nb
  */
 void nps_fdm_run_step(
   bool launch __attribute__((unused)),
-  double *commands,
+  double *act_commands,
   int commands_nb)
 {
   // Initialize Gazebo if req'd.
@@ -201,7 +213,7 @@ void nps_fdm_run_step(
   // Update the simulation for a single timestep.
   gazebo::runWorld(model->GetWorld(), 1);
   gazebo::sensors::run_once();
-  gazebo_write(commands, commands_nb);
+  gazebo_write(act_commands, commands_nb);
   gazebo_read();
 #ifdef NPS_SIMULATE_VIDEO
   gazebo_read_video();
@@ -286,6 +298,11 @@ static void init_gazebo(void)
   gazebo::runWorld(world, 1);
   cout << "Sensors initialized..." << endl;
 
+  // activate collision sensor
+  gazebo::sensors::SensorManager *mgr = gazebo::sensors::SensorManager::Instance();
+  ct = static_pointer_cast < gazebo::sensors::ContactSensor > (mgr->GetSensor("contactsensor"));
+  ct->SetActive(true);
+
   cout << "Gazebo initialized successfully!" << endl;
 }
 
@@ -361,9 +378,15 @@ static void gazebo_read(void)
                              gazebo::common::SphericalCoordinates::GLOBAL)); // Note: unused
   fdm.ltpprz_ecef_accel = fdm.ltp_ecef_accel; // ???
   fdm.body_inertial_accel = fdm.body_ecef_accel; // Approximate, unused.
-  fdm.body_accel = to_pprz_body(
-                     pose.rot.RotateVectorReverse(accel.Ign() - world->Gravity()));
 
+  // only use accelerometer if no collisions or if not on ground
+  if (ct->Contacts().contact_size() || pose.pos.z < 0.03){
+    fdm.body_accel = to_pprz_body(
+                     pose.rot.RotateVectorReverse(-world->Gravity()));
+  } else {
+    fdm.body_accel = to_pprz_body(
+                     pose.rot.RotateVectorReverse(accel.Ign() - world->Gravity()));
+  }
   /* attitude */
   // ecef_to_body_quat: unused
   fdm.ltp_to_body_eulers = to_pprz_eulers(local_to_global_quat * pose.rot);
@@ -398,7 +421,7 @@ static void gazebo_read(void)
   fdm.pressure_sl = 101325; // Pa
 
   fdm.airspeed = 0;
-  fdm.pressure = fdm.pressure_sl; // Pa
+  fdm.pressure = pprz_isa_pressure_of_height(fdm.hmsl, fdm.pressure_sl);
   fdm.dynamic_pressure = fdm.pressure_sl; // Pa
   fdm.temperature = 20.0; // C
   fdm.aoa = 0; // rad
@@ -428,23 +451,21 @@ static void gazebo_read(void)
  * NPS_ACTUATOR_NAMES. See conf/simulator/gazebo/models/ardrone/ardrone.sdf
  * for an example.
  *
- * @param commands
+ * @param act_commands
  * @param commands_nb
  */
-static void gazebo_write(double commands[], int commands_nb)
+static void gazebo_write(double act_commands[], int commands_nb)
 {
   const string names[] = NPS_ACTUATOR_NAMES;
   const double thrusts[] = { NPS_ACTUATOR_THRUSTS };
   const double torques[] = { NPS_ACTUATOR_TORQUES };
 
   for (int i = 0; i < commands_nb; ++i) {
-    double thrust = autopilot.motors_on ? thrusts[i] * commands[i] : 0.0;
+    double thrust = autopilot.motors_on ? thrusts[i] * act_commands[i] : 0.0;
-    double torque = autopilot.motors_on ? torques[i] * commands[i] : 0.0;
+    double torque = autopilot.motors_on ? torques[i] * act_commands[i] : 0.0;
     gazebo::physics::LinkPtr link = model->GetLink(names[i]);
     link->AddRelativeForce(gazebo::math::Vector3(0, 0, thrust));
     link->AddRelativeTorque(gazebo::math::Vector3(0, 0, torque));
-    // cout << "Motor '" << link->GetName() << "': thrust = " << thrust
-    //    << " N, torque = " << torque << " Nm" << endl;
   }
 }
 
@@ -526,11 +547,20 @@ static void gazebo_read_video(void)
     if (cam == NULL) { continue; }
     // Skip if not updated
     // Also skip when LastMeasurementTime() is zero (workaround)
-    if (cam->LastMeasurementTime() == gazebo_cams[i].last_measurement_time
+    if ((cam->LastMeasurementTime() - gazebo_cams[i].last_measurement_time).Float() < 0.005
         || cam->LastMeasurementTime() == 0) { continue; }
     // Grab image, convert and send to video thread
     struct image_t img;
     read_image(&img, cam);
+
+#ifdef NPS_DEBUG_VIDEO
+    cv::Mat RGB_cam(cam->ImageHeight(),cam->ImageWidth(),CV_8UC3,(uint8_t *)cam->ImageData());
+    cv::cvtColor(RGB_cam, RGB_cam, cv::COLOR_RGB2BGR);
+    cv::namedWindow(cameras[i]->dev_name, cv::WINDOW_AUTOSIZE);  // Create a window for display.
+    cv::imshow(cameras[i]->dev_name, RGB_cam);
+    cv::waitKey(1);
+#endif
+
     cv_run_device(cameras[i], &img);
     // Free image buffer after use.
     image_free(&img);

sw/simulator/nps/nps_flightgear.c

@@ -30,7 +30,7 @@ pthread_t th_fg_rx; // fligh gear receive thread
 
 void* nps_flightgear_receive(void* data __attribute__((unused)));
 
-double htond(double x)
+static double htond(double x)
 {
   int *p = (int *)&x;
   int tmp = p[0];
@@ -41,7 +41,7 @@ double htond(double x)
 }
 
 
-float htonf(float x)
+static float htonf(float x)
 {
   int *p = (int *)&x;
   *p = htonl(*p);
@@ -112,7 +112,7 @@ void nps_flightgear_init(const char *host,  unsigned int port, unsigned int port
  * For visualization with moving surfaces (elevator, propeller etc).
  * start fgfs with --native-fdm=socket... option
  */
-void nps_flightgear_send_fdm()
+void nps_flightgear_send_fdm(void)
 {
   struct FGNetFDM fgfdm;
 
@@ -176,7 +176,7 @@ void nps_flightgear_send_fdm()
  *
  * This is the default option
  */
-void nps_flightgear_send()
+void nps_flightgear_send(void)
 {
 
   struct FGNetGUI gui;

sw/simulator/nps/nps_flightgear.h

@@ -1,10 +1,8 @@
 #ifndef NPS_FLIGHTGEAR_H
 #define NPS_FLIGHTGEAR_H
 
-
 extern void nps_flightgear_init(const char* host,  unsigned int port, unsigned int port_in, unsigned int time_offset);
-extern void nps_flightgear_send();
+extern void nps_flightgear_send(void);
-extern void nps_flightgear_send_fdm();
+extern void nps_flightgear_send_fdm(void);
-
 
 #endif /* NPS_FLIGHTGEAR_H */

sw/simulator/nps/nps_main_common.c

@@ -226,6 +226,8 @@ bool nps_main_parse_options(int argc, char **argv)
             nps_main.fg_fdm = 1; break;
           case 10:
             nps_main.fg_port_in = atoi(optarg); break;
+          default:
+            break;
         }
         break;
 

sw/simulator/nps/nps_radio_control_spektrum.c

@@ -1,3 +1,4 @@
+#include "nps_radio_control_spektrum.h"
 #include "nps_radio_control.h"
 
 #include <glib.h>
@@ -130,6 +131,9 @@ static void parse_data(char *buf, int len)
           handle_frame();
         }
         break;
+      default:
+        status = STA_UNINIT;
+        break;
     }
   }
 }