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This commit is contained in:
Antoine Drouin
2009-02-17 14:21:52 +00:00
parent 96d92c7704
commit 78c49f5629
3 changed files with 20 additions and 1 deletions
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conf/autopilot/booz2_simulator.makefile
+2
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@@ -17,6 +17,8 @@ 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 += -DBYPASS_AHRS
sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I../simulator -DFLOAT_T=float
sim.srcs = $(SIMDIR)/booz2_sim_main.c \
sw/simulator/booz2_sim_main.c
+17
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@@ -50,6 +50,7 @@ double disp_time;
double booz_sim_actuators_values[] = {0., 0., 0., 0.};
static void sim_bypass_ahrs(void);
static void sim_gps_feed_data(void);
static void sim_mag_feed_data(void);
@@ -118,6 +119,9 @@ static gboolean booz2_sim_periodic(gpointer data __attribute__ ((unused))) {
if (booz_sensors_model_gyro_available()) {
booz2_imu_feed_data();
booz2_main_event();
#ifdef BYPASS_AHRS
sim_bypass_ahrs();
#endif /* BYPASS_AHRS */
}
if (booz_sensors_model_gps_available()) {
@@ -137,6 +141,19 @@ static gboolean booz2_sim_periodic(gpointer data __attribute__ ((unused))) {
return TRUE;
}
#include "booz_geometry_mixed.h"
#include "booz2_filter_attitude.h"
static void sim_bypass_ahrs(void) {
booz2_filter_attitude_euler_aligned.phi = BOOZ_ANGLE_I_OF_F(bfm.state->ve[BFMS_PHI]);
booz2_filter_attitude_euler_aligned.theta = BOOZ_ANGLE_I_OF_F(bfm.state->ve[BFMS_THETA]);
booz2_filter_attitude_euler_aligned.psi = BOOZ_ANGLE_I_OF_F(bfm.state->ve[BFMS_PSI]);
booz2_filter_attitude_rate.x = BOOZ_RATE_I_OF_F(bfm.state->ve[BFMS_P]);
booz2_filter_attitude_rate.y = BOOZ_RATE_I_OF_F(bfm.state->ve[BFMS_Q]);
booz2_filter_attitude_rate.z = BOOZ_RATE_I_OF_F(bfm.state->ve[BFMS_R]);
}
#include "booz2_gps.h"
static void sim_gps_feed_data(void) {
booz2_gps_lat = bsm.gps_pos_lla.lat;
sw/simulator/booz_rc_sim.h
+1 -1
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@@ -22,7 +22,7 @@
else { \
ppm_pulses[RADIO_YAW] = 1500 + 0. * (2050-950); \
ppm_pulses[RADIO_THROTTLE] = 1223 + 0.99 * (2050-1223); \
ppm_pulses[RADIO_MODE] = MODE_SWITCH_AUTO2; \
ppm_pulses[RADIO_MODE] = MODE_SWITCH_AUTO1; \
} \
ppm_pulses[RADIO_PITCH] = 1500 + 0. * (2050-950); \
ppm_pulses[RADIO_ROLL] = 1500 + 0. * (2050-950); \