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[HITL] Fixed fixedwing simulation - runs now nicely with Minion Lia as an example (#2054)

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This commit is contained in:
Michal Podhradsky
2017-04-15 14:16:44 -07:00
committed by Felix Ruess
parent 3dcfdc9ac7
commit 8f1e082cfe
10 changed files with 78 additions and 28 deletions
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conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+7 -5
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@@ -11,10 +11,12 @@
<airframe name="Quadrotor LisaMX_2.1 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1">
<target name="ap" board="lisa_mx_2.1_chibios">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
</target>
<configure name="PERIODIC_FREQUENCY" value="160"/>
@@ -34,12 +36,12 @@
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="PERIODIC_FREQUENCY"/>
<define name="SERVO_HZ" value="400"/>
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="ins" type="vectornav">
@@ -62,12 +64,12 @@
<module name="lidar_lite">
<configure name="LIDAR_LITE_I2C_DEV" value="i2c2"/>
</module>
<module name="battery_monitor.xml">
<!--module name="battery_monitor.xml">
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</module-->
</modules>
<servos driver="Pwm">
conf/airframes/AGGIEAIR/aggieair_conf.xml
+2 -2
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
gui_color="#ffff954c0000"
/>
<aircraft
@@ -51,7 +51,7 @@
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
settings_modules="modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#00009e93ffff"
/>
</conf>
conf/airframes/AGGIEAIR/aggieair_control_panel.xml
+40
View File
@@ -116,6 +116,25 @@
</program>
</session>
<session name="HITL USB-serial@115200">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="115200"/>
</program>
<program name="Server">
<arg flag="" constant="-no_md5_check"/>
</program>
<program name="GCS"/>
<program name="Messages"/>
<program name="Simulator">
<arg flag="-a" constant="@AIRCRAFT"/>
<arg flag="-f" constant="127.0.0.1"/>
<arg flag="-b" constant="127.255.255.255"/>
<arg flag="--fg_fdm" constant=""/>
</program>
</session>
<session name="NPS Flight Gear">
<program name="Data Link">
<arg flag="-udp"/>
@@ -154,6 +173,27 @@
</program>
</session>
<session name="HITL+SBUS USB-serial@115200">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="115200"/>
</program>
<program name="Server">
<arg flag="" constant="-no_md5_check"/>
</program>
<program name="GCS"/>
<program name="Messages"/>
<program name="Simulator">
<arg flag="-a" constant="@AIRCRAFT"/>
<arg flag="-f" constant="127.0.0.1"/>
<arg flag="-b" constant="127.255.255.255"/>
<arg flag="--fg_fdm" constant=""/>
</program>
<program name="Sbus Fakerator">
<arg flag="-p" constant="/dev/ttyUSB3"/>
</program>
</session>
<session name="Flight USB-XBee-API@57600">
<program name="Data Link">
<arg flag="-d" constant="/dev/paparazzi/xbee"/>
conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
+8 -6
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@@ -7,7 +7,7 @@ RP3 Lisa MX
<airframe name="RP3 Lisa MX">
<firmware name="fixedwing">
<target name="ap" board="lisa_mx_2.1_chibios">
<target name="ap" board="lisa_mx_2.1">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
@@ -25,7 +25,7 @@ RP3 Lisa MX
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<!--configure name="USE_HITL" value="1"/-->
<configure name="USE_HITL" value="1"/>
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B921600"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
@@ -37,7 +37,7 @@ RP3 Lisa MX
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="ins" type="vectornav">
@@ -63,14 +63,16 @@ RP3 Lisa MX
<configure name="EXTRA_DL_PORT" value="UART1"/>
<configure name="EXTRA_DL_BAUD" value="B921600"/>
</module>
<module name="lidar_sf11"/>
<module name="battery_monitor.xml">
<module name="lidar_sf11">
<configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
</module>
<!--module name="battery_monitor.xml">
<define name="BATMON_REV4" value="1"/>
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</module-->
</modules>
<!-- commands section -->
conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
-13
View File
@@ -4,37 +4,24 @@
<process name="Ap">
<mode name="default">
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="AIRSPEED" period="1"/>
<message name="ALIVE" period="5.1"/>
<message name="GPS" period="0.25"/>
<message name="NAVIGATION" period="1."/>
<message name="ATTITUDE" period="0.1"/>
<message name="ESTIMATOR" period="0.5"/>
<message name="ENERGY" period="2.4"/>
<message name="WP_MOVED" period="0.5"/>
<message name="CIRCLE" period="1.05"/>
<message name="DESIRED" period="0.2"/>
<message name="BAT" period="1.1"/>
<message name="SEGMENT" period="1.2"/>
<message name="CALIBRATION" period="2.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="PPRZ_MODE" period="4.9"/>
<message name="SETTINGS" period="5."/>
<message name="STATE_FILTER_STATUS" period="2.2"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="1.2"/>
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="2.0"/>
<message name="IMU_ACCEL" period=".8"/>
<message name="IMU_GYRO" period=".6"/>
<message name="IMU_MAG" period="1.3"/>
<message name="CAM" period="0.5"/>
<message name="CAM_POINT" period="1.0"/>
<message name="COMMANDS" period="1"/>
<message name="FBW_STATUS" period="2"/>
<message name="AIR_DATA" period="1.3"/>
<message name="ESC" period="0.9"/>
<message name="VECTORNAV_INFO" period="1.0"/>
</mode>
<mode name="minimal">
sw/airborne/subsystems/ins/ins_vectornav.c
+6
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@@ -299,6 +299,12 @@ void ins_vectornav_propagate()
gps.hmsl = (int32_t)((ins_vn.lla_pos.alt - geoid_h)* 1000.0f);
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
// Set GPS fix
gps.fix = ins_vn.vn_data.gps_fix;
// Set GPS num_sv
gps.num_sv = ins_vn.vn_data.num_sv;
// set position uncertainty
ins_vectornav_set_pacc();
sw/simulator/nps/nps_ivy.c
+4 -2
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@@ -154,10 +154,11 @@ void nps_ivy_send_WORLD_ENV_REQ(void)
int find_launch_index(void)
{
static const char ap_launch[] = "lau"; // short name has only 3 first letters
static const char ap_launch[] = "aut_lau"; // short name
char *ap_settings[NB_SETTING] = SETTINGS_NAMES_SHORT;
// list through the settinsg
// list through the settings
// TODO: maybe search for a substring with if(strstr(sent, word) != NULL)
for (uint8_t idx=0;idx<NB_SETTING;idx++) {
if (strcmp(ap_settings[idx],ap_launch) == 0) {
return (int)idx;
@@ -185,6 +186,7 @@ static void on_DL_SETTING(IvyClientPtr app __attribute__((unused)),
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &index, &value);
printf("setting %d %f\n", index, value);
/*
* In case of HITL, update nps_autopilot.launch from DL_SETTINGS
* so the plane can be properly launched.
sw/simulator/nps/nps_main_common.c
+4
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@@ -284,8 +284,10 @@ void *nps_flight_gear_loop(void *data __attribute__((unused)))
nanosleep(&waitFor, NULL);
} else {
// task took longer than the period
#ifdef PRINT_TIME
printf("FG THREAD: task took longer than one period, exactly %f [ms], but the period is %f [ms]\n",
(double)task_ns / 1E6, (double)period_ns / 1E6);
#endif
}
}
@@ -329,8 +331,10 @@ void *nps_main_display(void *data __attribute__((unused)))
nanosleep(&waitFor, NULL);
} else {
// task took longer than the period
#ifdef PRINT_TIME
printf("IVY DISPLAY THREAD: task took longer than one period, exactly %f [ms], but the period is %f [ms]\n",
(double)task_ns / 1E6, (double)period_ns / 1E6);
#endif
}
}
sw/simulator/nps/nps_main_hitl.c
+5
View File
@@ -96,6 +96,7 @@ void nps_radio_and_autopilot_init(void)
void nps_update_launch_from_dl(uint8_t value)
{
nps_autopilot.launch = value;
printf("Launch value=%u\n",nps_autopilot.launch);
}
void nps_main_run_sim_step(void)
@@ -173,8 +174,10 @@ void *nps_ins_data_loop(void *data __attribute__((unused)))
nanosleep(&waitFor, NULL);
} else {
// task took longer than the period
#ifdef PRINT_TIME
printf("INS THREAD: task took longer than one period, exactly %f [ms], but the period is %f [ms]\n",
(double)task_ns / 1E6, (double)period_ns / 1E6);
#endif
}
}
return(NULL);
@@ -326,8 +329,10 @@ void *nps_main_loop(void *data __attribute__((unused)))
nanosleep(&waitFor, NULL);
} else {
// task took longer than the period
#ifdef PRINT_TIME
printf("MAIN THREAD: task took longer than one period, exactly %f [ms], but the period is %f [ms]\n",
(double)task_ns / 1E6, (double)period_ns / 1E6);
#endif
}
}
return(NULL);
sw/simulator/nps/nps_main_sitl.c
+2
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@@ -176,8 +176,10 @@ void *nps_main_loop(void *data __attribute__((unused)))
nanosleep(&waitFor, NULL);
} else {
// task took longer than the period
#ifdef PRINT_TIME
printf("MAIN THREAD: task took longer than one period, exactly %f [ms], but the period is %f [ms]\n",
(double)task_ns / 1E6, (double)period_ns / 1E6);
#endif
}
}
return(NULL);