Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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nps_autopilot_rotorcraft.c
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1 /*
2  * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
22 #include "nps_autopilot.h"
23 
25 #include "nps_sensors.h"
26 #include "nps_radio_control.h"
27 #include "nps_electrical.h"
28 #include "nps_fdm.h"
29 
31 #include "subsystems/imu.h"
32 #include "mcu_periph/sys_time.h"
33 #include "state.h"
34 #include "subsystems/ahrs.h"
35 #include "subsystems/ins.h"
36 #include "math/pprz_algebra.h"
37 
38 #ifndef NPS_NO_MOTOR_MIXING
40 
41 #if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR
42 #warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!"
43 #endif
44 #endif
45 
46 #include "subsystems/abi.h"
47 
48 #include "pprzlink/messages.h"
50 
51 // for datalink_time hack
53 #include "subsystems/actuators.h"
54 
58 
59 #ifndef NPS_BYPASS_AHRS
60 #define NPS_BYPASS_AHRS FALSE
61 #endif
62 
63 #ifndef NPS_BYPASS_INS
64 #define NPS_BYPASS_INS FALSE
65 #endif
66 
67 #if INDI_RPM_FEEDBACK
68 #error "INDI_RPM_FEEDBACK can not be used in simulation!"
69 #endif
70 
71 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)
72 {
74 
75  nps_radio_control_init(type_rc, num_rc_script, rc_dev);
77 
80 
81  main_init();
82 
83 }
84 
86 {
88 }
89 
90 #include <stdio.h>
91 #include "subsystems/gps.h"
92 
93 void nps_autopilot_run_step(double time)
94 {
95 
97 
98 #if RADIO_CONTROL && !RADIO_CONTROL_TYPE_DATALINK
99  if (nps_radio_control_available(time)) {
100  radio_control_feed();
101  main_event();
102  }
103 #endif
104 
107  main_event();
108  }
109 
111  imu_feed_mag();
112  main_event();
113  }
114 
116  uint32_t now_ts = get_sys_time_usec();
117  float pressure = (float) sensors.baro.value;
118  AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, now_ts, pressure);
119  main_event();
120  }
121 
123  AbiSendMsgTEMPERATURE(BARO_SIM_SENDER_ID, (float)sensors.temp.value);
124  }
125 
126 #if USE_AIRSPEED
129  }
130 #endif
131 
132 #if USE_SONAR
134  uint32_t now_ts = get_sys_time_usec();
135  float dist = (float) sensors.sonar.value;
136  if (dist >= 0.0) {
137  AbiSendMsgAGL(AGL_SONAR_NPS_ID, now_ts, dist);
138  }
139 
140 #ifdef SENSOR_SYNC_SEND_SONAR
141  uint16_t foo = 0;
142  DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &foo, &dist);
143 #endif
144 
145  main_event();
146  }
147 #endif
148 
149 #if USE_GPS
151  gps_feed_value();
152  main_event();
153  }
154 #endif
155 
156  if (nps_bypass_ahrs) {
158  }
159 
160  if (nps_bypass_ins) {
162  }
163 
165 
166  /* scale final motor commands to 0-1 for feeding the fdm */
167  for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
168 #if NPS_NO_MOTOR_MIXING
169  actuators_pprz[i] = autopilot_get_motors_on() ? actuators_pprz[i] : 0;
170  nps_autopilot.commands[i] = (double)actuators_pprz[i] / MAX_PPRZ;
171 #else
173 #endif
174  }
175 }
176 
177 
179 {
180 
181  struct FloatQuat quat_f;
182  QUAT_COPY(quat_f, fdm.ltp_to_body_quat);
183  stateSetNedToBodyQuat_f(&quat_f);
184 
185  struct FloatRates rates_f;
186  RATES_COPY(rates_f, fdm.body_ecef_rotvel);
187  stateSetBodyRates_f(&rates_f);
188 
189 }
190 
192 {
193 
194  struct NedCoor_f ltp_pos;
195  VECT3_COPY(ltp_pos, fdm.ltpprz_pos);
196  stateSetPositionNed_f(&ltp_pos);
197 
198  struct NedCoor_f ltp_speed;
199  VECT3_COPY(ltp_speed, fdm.ltpprz_ecef_vel);
200  stateSetSpeedNed_f(&ltp_speed);
201 
202  struct NedCoor_f ltp_accel;
203  VECT3_COPY(ltp_accel, fdm.ltpprz_ecef_accel);
204  stateSetAccelNed_f(&ltp_accel);
205 
206 }
unsigned short uint16_t
Definition: types.h:16
#define NPS_BYPASS_INS
struct NedCoor_d ltpprz_ecef_accel
accel in ltppprz frame, wrt ECEF frame
Definition: nps_fdm.h:81
Dispatcher to register actual AHRS implementations.
bool nps_sensors_gps_available(void)
Definition: nps_sensors.c:70
struct DoubleRates body_ecef_rotvel
Definition: nps_fdm.h:97
#define NPS_BYPASS_AHRS
struct NpsFdm fdm
Holds all necessary NPS FDM state information.
void nps_electrical_run_step(double time)
bool nps_sensors_mag_available(void)
Definition: nps_sensors.c:52
#define NPS_COMMANDS_NB
Number of commands sent to the FDM of NPS.
Definition: nps_autopilot.h:42
bool autopilot_get_motors_on(void)
get motors status
Definition: autopilot.c:212
#define VECT3_COPY(_a, _b)
Definition: pprz_algebra.h:140
bool nps_sensors_baro_available(void)
Definition: nps_sensors.c:61
Main include for ABI (AirBorneInterface).
void sim_overwrite_ahrs(void)
double value
airspeed reading in meters/second
struct NpsSensorBaro baro
Definition: nps_sensors.h:21
static void stateSetNedToBodyQuat_f(struct FloatQuat *ned_to_body_quat)
Set vehicle body attitude from quaternion (float).
Definition: state.h:1093
bool nps_bypass_ahrs
NpsRadioControlType
Integrated Navigation System interface.
STATIC_INLINE void handle_periodic_tasks(void)
Definition: main_ap.c:202
struct NpsSensorSonar sonar
Definition: nps_sensors.h:23
Rotorcraft main loop.
struct NedCoor_d ltpprz_pos
Definition: nps_fdm.h:54
Roation quaternion.
#define AGL_SONAR_NPS_ID
#define QUAT_COPY(_qo, _qi)
Definition: pprz_algebra.h:596
struct NpsAutopilot nps_autopilot
void nps_autopilot_run_systime_step(void)
static void stateSetSpeedNed_f(struct NedCoor_f *ned_speed)
Set ground speed in local NED coordinates (float).
Definition: state.h:809
Hardware independent API for actuators (servos, motor controllers).
#define TRUE
Definition: std.h:4
void imu_feed_mag(void)
Definition: imu_nps.c:53
static void sys_tick_handler(void)
void nps_autopilot_run_step(double time)
double value
temperature in degrees Celcius
vector in North East Down coordinates Units: meters
Architecture independent timing functions.
void sim_overwrite_ins(void)
void nps_electrical_init(void)
static void main_event(void)
Definition: uart_tunnel.c:85
Paparazzi generic algebra macros.
Device independent GPS code (interface)
void nps_radio_control_init(enum NpsRadioControlType type, int num_script, char *js_dev)
unsigned long uint32_t
Definition: types.h:18
uint16_t foo
Definition: main_demo5.c:59
struct NpsSensors sensors
Definition: nps_sensors.c:6
double value
sonar reading in meters
Inertial Measurement Unit interface.
static void stateSetPositionNed_f(struct NedCoor_f *ned_pos)
Set position from local NED coordinates (float).
Definition: state.h:598
void gps_feed_value(void)
Definition: gps_sim_nps.c:31
void imu_feed_gyro_accel(void)
Definition: imu_nps.c:40
bool nps_bypass_ins
bool nps_sensors_temperature_available(void)
Definition: nps_sensors.c:97
#define BARO_SIM_SENDER_ID
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
bool nps_sensors_airspeed_available(void)
Definition: nps_sensors.c:88
static void main_init(void)
bool nps_radio_control_available(double time)
Electrical status (bat voltage) for NPS.
static void stateSetAirspeed_f(float airspeed)
Set airspeed (float).
Definition: state.h:1309
bool nps_sensors_gyro_available(void)
Definition: nps_sensors.c:43
double value
pressure in Pascal
struct MotorMixing motor_mixing
Definition: motor_mixing.c:94
struct NpsSensorAirspeed airspeed
Definition: nps_sensors.h:24
struct NedCoor_d ltpprz_ecef_vel
velocity in ltppprz frame, wrt ECEF frame
Definition: nps_fdm.h:79
#define RATES_COPY(_a, _b)
Definition: pprz_algebra.h:337
#define MAX_PPRZ
Definition: paparazzi.h:8
int32_t commands[MOTOR_MIXING_NB_MOTOR]
Definition: motor_mixing.h:37
Motor Mixing.
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
static void stateSetBodyRates_f(struct FloatRates *body_rate)
Set vehicle body angular rate (float).
Definition: state.h:1181
bool nps_sensors_sonar_available(void)
Definition: nps_sensors.c:79
static void stateSetAccelNed_f(struct NedCoor_f *ned_accel)
Set acceleration in NED coordinates (float).
Definition: state.h:1002
struct DoubleQuat ltp_to_body_quat
Definition: nps_fdm.h:91
double commands[NPS_COMMANDS_NB]
Definition: nps_autopilot.h:47
angular rates
struct NpsSensorTemperature temp
Definition: nps_sensors.h:25
void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char *rc_dev)