Set Gazebo world in flight plan (#2172)

* update documentation
* include flight_plan.h in nps_fdm_gazebo.cpp

conf/modules/fdm_gazebo.xml

@@ -9,29 +9,32 @@
       Usage:
       1. Make sure gazebo 7 or 8 is installed. (sudo apt-get install gazebo8 libgazebo8-dev)
       2. Prepare the Gazebo world and model:
-         a) Prepare the UAV model (see conf/simulator/gazebo/models/ardrone/):
+        1. Prepare the UAV model (see conf/simulator/gazebo/models/ardrone/):
-              Place the aircraft model in the conf/simulator/gazebo/models/
+          - Place the aircraft model in the conf/simulator/gazebo/models/
             folder, this folder is added to Gazebo's search path when NPS is
             launched.
-              Gazebo uses a Front, Left, Up coordinate system for aircraft, so
+          - Gazebo uses a Front, Left, Up coordinate system for aircraft, so
             make sure the +x axis points forwards.
-              The model should include a link for each motor with the same names
+          - The model should include a link for each motor with the same names
             as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'.
-              Camera links should have the name specified in .dev_name in the
+          - Camera links should have the name specified in .dev_name in the
             corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h
             and sw/airborne/modules/computer_vision/video_thread_nps.c.
-         b) Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world). 
+        2. Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world). 
           Pay attention to the following:
-              The real-time update rate should be set to zero, as this is
+          - The real-time update rate should be set to zero, as this is
             already handled by Paparazzi:
+            @code{.xml}
               <physics type="ode">
                 <max_step_size>0.001</max_step_size>
                 <real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
               </physics>
-			  Spherical coordinates should be provided for navigation.
+            @endcode
+          - Spherical coordinates should be provided for navigation.
             At this moment, there is an issue where Gazebo incorrectly
             uses a WSU coordinate system instead of ENU. This can be fixed
             by setting the heading to 180 degrees as shown below:
+            @code{.xml}
               <spherical_coordinates>
                 <surface_model>EARTH_WGS84</surface_model>
                 <latitude_deg>51.9906</latitude_deg>
@@ -39,45 +42,67 @@
                 <elevation>0</elevation>
                 <heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
               </spherical_coordinates>
+            @endcode
       3. Prepare the airframe file (see examples/ardrone2_gazebo.xml):
-         a) Select Gazebo as the FDM (Flight Dynamics Model)
+        1. Select Gazebo as the FDM (Flight Dynamics Model)
+          @code{.xml}
             <target name="nps" board="pc">
               <module name="fdm" type="gazebo"/>
             </target>
-		 b) Add actuator thrusts and torques to the SIMULATOR section:
+          @endcode
+        2. Add actuator thrusts and torques to the SIMULATOR section:
+          @code{.xml}
             <section name="SIMULATOR" prefix="NPS_">
               <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
               <define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/>
               <define name="ACTUATOR_TORQUES" value="0.155, -0.155, 0.155, -0.155" type="float[]"/>
               ...
             <section>
+          @endcode
           The thrusts and torques are expressed in SI units (N, Nm) and should
           be in the same order as the ACTUATOR_NAMES.
-		 c) In the same section, bypass the AHRS and INS as these are not
+        3. In the same section, bypass the AHRS and INS as these are not
           supported yet:
+          @code{.xml}
             <section name="SIMULATOR" prefix="NPS_">
               ...
               <define name="BYPASS_AHRS" value="1"/>
               <define name="BYPASS_INS" value="1"/>
               ...
-		      <section>
+            </section>
-		 d) If required, enable video thread simulation:
+          @endcode
+        4. If required, enable video thread simulation:
+          @code{.xml}
             <section name="SIMULATOR" prefix="NPS_">
               ...
               <define name="SIMULATE_VIDEO" value="1"/>
               ...
-		      <section>
+            </section>
-		 e) If required, specify the Gazebo world and aircraft name:
+          @endcode
+        5. If required, set the aircraft model in the airframe file:
+          @code{.xml}
             <section name="SIMULATOR" prefix="NPS_">
               ...
-		        <define name="GAZEBO_WORLD" value="my_world.world"/>
               <define name="GAZEBO_AC_NAME" value="my_uav"/>
-		      <section>
+            </section>
-	  4. Make sure all included modules work with nps. At the moment, most of
+          @endcode
+        6. Make sure all included modules work with nps. At the moment, most of
           the modules that depend on video_thread are only built when ap is
-	     selected as the target. As a quick fix, try to remove the target
+          selected as the target. To fix this, add nps to the target attribute
-	     attribute from the makefile element in the module xml, e.g.:
+          in the module xml, e.g.:
-	       <makefile target="ap"> ---> <makefile> 
+          @code{.xml}
+            <makefile target="ap|nps">
+          @endcode
+      4. If required, set the simulation environment in the flight plan file:
+        @code{.xml}
+          <flight_plan ...>
+            <header>
+              ...
+              #define NPS_GAZEBO_WORLD "my.world"
+            </header>
+            ...
+          <flight_plan>
+        @endcode
     </description>
   </doc>
   <header/>

sw/simulator/nps/nps_fdm_gazebo.cpp

@@ -51,6 +51,7 @@ extern "C" {
 #include "nps_autopilot.h"
 
 #include "generated/airframe.h"
+#include "generated/flight_plan.h"
 #include "autopilot.h"
 
 #include "math/pprz_isa.h"