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This commit is contained in:
Antoine Drouin
2009-06-17 16:00:53 +00:00
parent 3041a67420
commit 778ae042e4
9 changed files with 101 additions and 49 deletions
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Makefile
-2
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@@ -123,8 +123,6 @@ include Makefile.ac
sim : sim_static
jsim:
cd $(SIMULATOR); $(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC)
ac_h ac1 ac2 ac3 ac fbw ap: static conf
conf/airframes/booz2_a1.xml
+1
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@@ -171,6 +171,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator_jsbsim.makefile
sim.CFLAGS += -DNPS_SENSORS_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator_nps.makefile
conf/autopilot/booz2_simulator_nps.makefile
+33
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@@ -0,0 +1,33 @@
#
# SITL Simulator
#
SIM_TYPE = JSBSIM
MY_JSBSIM_ROOT = /home/violato/enac/programs/JSBSim
MY_JSBSIM_LIB = /home/violato/enac/programs/install_jsbsim
SRC_BOOZ=booz
SRC_BOOZ_SIM = $(SRC_BOOZ)/sim
#BOOZ_PRIV_ARCH = $(BOOZ_PRIV_SIM)
sim.ARCHDIR = $(ARCHI)
sim.ARCH = sitl
sim.TARGET = sim
sim.TARGETDIR = sim
sim.CFLAGS += -DSITL
sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
sim.CFLAGS += -I$(SIMDIR) -I/usr/local/include -I$(MY_JSBSIM_LIB)/include/JSBSim
sim.LDFLAGS += -L$(MY_JSBSIM_LIB)/lib -lJSBSim
sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I../simulator
sim.CFLAGS += -DJSBSIM_ROOT_DIR=\"/home/violato/enac/programs/JSBSim/\"
sim.srcs = $(SIMDIR)/nps_main.c \
$(SIMDIR)/nps_fdm_jsbsim.c \
$(SIMDIR)/nps_sensors.c \
$(SIMDIR)/nps_sensor_gyro.c \
$(SIMDIR)/nps_autopilot.c \
sw/airborne/pprz_algebra_double.h
+16 -16
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@@ -5,37 +5,37 @@
struct DoubleVect2 {
FLOAT_T x;
FLOAT_T y;
double x;
double y;
};
struct DoubleVect3 {
FLOAT_T x;
FLOAT_T y;
FLOAT_T z;
double x;
double y;
double z;
};
struct DoubleQuat {
FLOAT_T qi;
FLOAT_T qx;
FLOAT_T qy;
FLOAT_T qz;
double qi;
double qx;
double qy;
double qz;
};
struct DoubleMat33 {
FLOAT_T m[3*3];
double m[3*3];
};
struct DoubleEulers {
FLOAT_T phi;
FLOAT_T theta;
FLOAT_T psi;
double phi;
double theta;
double psi;
};
struct DoubleRates {
FLOAT_T p;
FLOAT_T q;
FLOAT_T r;
double p;
double q;
double r;
};
sw/simulator/nps_autopilot.h
+1
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@@ -9,6 +9,7 @@ struct NpsAutopilot {
extern struct NpsAutopilot autopilot;
extern void nps_autopilot_init(void);
extern void nps_autopilot_run_step(void);
#endif /* NPS_AUTOPILOT_H */
sw/simulator/nps_fdm_jsbsim.c
+8 -6
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@@ -9,8 +9,8 @@
using namespace JSBSim;
void nps_fdm_feed_jsbsim(void);
void nps_fdm_fetch_state(void);
static void feed_jsbsim(double* commands);
static void fetch_state(void);
FGFDMExec* FDMExec;
@@ -22,15 +22,15 @@ void nps_fdm_init(double dt) {
void nps_fdm_run_step(double* commands) {
nps_fdm_feed_jsbsim(double* commands);
feed_jsbsim(commands);
/* run JSBSim */
nps_fdm_fetch_state();
fetch_state();
}
void nps_fdm_feed_jsbsim(double* commands) {
static void feed_jsbsim(double* commands) {
#if 0
printf("Actuators Names:\n");
@@ -39,7 +39,9 @@ void nps_fdm_feed_jsbsim(double* commands) {
}
#endif
void nps_fdm_fetch_state(void) {
}
static void fetch_state(void) {
/* JSBSim to fdm */
sw/simulator/nps_main.c
+17 -9
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@@ -1,23 +1,30 @@
#include <glib.h>
#include "nps_fdm.h"
#include "nps_sensors.h"
#include "nps_athmosphere.h"
#include "nps_autopilot"
#include "nps_atmosphere.h"
#include "nps_autopilot.h"
#define SIM_DT (1./512.)
#define DISPLAY_DT (1./25.)
struct {
static struct {
double sim_time;
double display_time;
} nps_main;
static void nps_main_init(void);
static void nps_main_display(void);
static void nps_main_run_sim_step(void);
static gboolean nps_main_periodic(gpointer data __attribute__ ((unused)));
int main ( int argc, char** argv) {
nps_main_init();
return 0;
}
@@ -26,7 +33,7 @@ int main ( int argc, char** argv) {
void nps_main_init(void) {
static void nps_main_init(void) {
nps_main.sim_time = 0.;
nps_main.display_time = 0.;
@@ -35,23 +42,24 @@ void nps_main_init(void) {
void nps_main_run_sim_step(void) {
static void nps_main_run_sim_step(void) {
nps_fdm_run_step(autopilot.commands);
nps_sensors_run_step();
// nps_sensors_run_step();
nps_autopilot_run_step();
// nps_autopilot_run_step();
}
void nps_main_display(void) {
static void nps_main_display(void) {
}
gboolean nps_main_periodic(gpointer data __attribute__ ((unused))) {
static gboolean nps_main_periodic(gpointer data __attribute__ ((unused))) {
/* FIXME */
#if 0
sw/simulator/nps_sensor_gyro.h
+13 -13
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@@ -1,20 +1,20 @@
#ifndef NPS_SENSORS_GYRO_H
#define NPS_SENSORS_GYRO_H
#include <matrix.h>
#include "pprz_algebra_double.h"
struct NpsSensorsGyro {
VEC* gyro;
unsigned int gyro_resolution;
MAT* gyro_sensitivity;
VEC* gyro_neutral;
VEC* gyro_noise_std_dev;
VEC* gyro_bias_initial;
VEC* gyro_bias_random_walk_std_dev;
VEC* gyro_bias_random_walk_value;
double gyro_next_update;
int gyro_available;
}
struct NpsSensorGyro {
struct DoubleVect3 value;
unsigned int resolution;
struct DoubleMat33 sensitivity;
struct DoubleVect3 neutral;
struct DoubleVect3 noise_std_dev;
struct DoubleVect3 bias_initial;
struct DoubleVect3 bias_random_walk_std_dev;
struct DoubleVect3 bias_random_walk_value;
double next_update;
int available;
};
#endif /* NPS_SENSORS_GYRO_H */
sw/simulator/nps_sensors.h
+12 -3
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@@ -1,14 +1,23 @@
#ifndef NPS_SENSORS_H
#define NPS_SENSORS_H
#include "nps_sensors_gyro.h"
#include "nps_sensor_gyro.h"
//nclude "nps_sensor_accel.h"
//nclude "nps_sensor_mag.h"
//nclude "nps_sensor_baro.h"
//#include "nps_sensor_gps.h"
struct NpsSensors {
struct NpsSensorsGyro gyro;
struct NpsSensorsGyro accel;
struct NpsSensorGyro gyro;
// struct NpsSensorAccel accel;
// struct NpsSensorMag mag;
// struct NpsSensorBaro baro;
// struct NpsSensorGps gps;
};
extern struct NpsSensors sensors;
#endif /* NPS_SENSORS_H */