nps_fdm.h File Reference

#include "std.h"
#include "flight_gear.h"
#include "math/pprz_geodetic_double.h"
#include "math/pprz_algebra_double.h"

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Data Structures
struct	NpsFdm

Functions
void	nps_fdm_init (double dt)
	NPS FDM rover init. More...
void	nps_fdm_run_step (bool launch, double *commands, int commands_nb)
	Minimum complexity flight dynamic model In legacy Paparazzi simulator, was implemented in OCaml and correspond to the 'sim' target. More...
void	nps_fdm_set_wind (double speed, double dir)
void	nps_fdm_set_wind_ned (double wind_north, double wind_east, double wind_down)
void	nps_fdm_set_turbulence (double wind_speed, int turbulence_severity)
void	nps_fdm_set_temperature (double temp, double h)
	Set temperature in degrees Celcius at given height h above MSL. More...

Variables
struct NpsFdm	fdm
	Holds all necessary NPS FDM state information. More...

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Data Structure Documentation

NpsFdm

struct NpsFdm

Definition at line 44 of file nps_fdm.h.

Collaboration diagram for NpsFdm:

Data Fields
double	agl
double	airspeed	equivalent airspeed in m/s
double	aoa	angle of attack in rad
struct DoubleVect3	body_accel	acceleration in body frame as measured by an accelerometer (incl. gravity)
struct DoubleVect3	body_ecef_accel	acceleration in body frame, wrt ECEF frame
struct DoubleRates	body_ecef_rotaccel
struct DoubleRates	body_ecef_rotvel
struct DoubleVect3	body_ecef_vel	velocity in body frame, wrt ECEF frame
struct DoubleVect3	body_inertial_accel	acceleration in body frame, wrt ECI inertial frame
struct DoubleRates	body_inertial_rotaccel
struct DoubleRates	body_inertial_rotvel
double	curr_dt
double	dynamic_pressure	dynamic pressure in Pascal
struct EcefCoor_d	ecef_ecef_accel	acceleration in ECEF frame, wrt ECEF frame
struct EcefCoor_d	ecef_ecef_vel	velocity in ECEF frame, wrt ECEF frame
struct EcefCoor_d	ecef_pos
struct DoubleQuat	ecef_to_body_quat
float	elevator
uint32_t	eng_state[FG_NET_FDM_MAX_ENGINES]
float	flap
double	hmsl
double	init_dt
float	left_aileron
struct LlaCoor_d	lla_pos
struct LlaCoor_d	lla_pos_geoc
struct LlaCoor_d	lla_pos_geod
struct LlaCoor_d	lla_pos_pprz
struct NedCoor_d	ltp_ecef_accel	acceleration in LTP frame, wrt ECEF frame
struct NedCoor_d	ltp_ecef_vel	velocity in LTP frame, wrt ECEF frame
struct DoubleVect3	ltp_g
struct DoubleVect3	ltp_h
struct DoubleEulers	ltp_to_body_eulers
struct DoubleQuat	ltp_to_body_quat
struct NedCoor_d	ltpprz_ecef_accel	accel in ltppprz frame, wrt ECEF frame
struct NedCoor_d	ltpprz_ecef_vel	velocity in ltppprz frame, wrt ECEF frame
struct NedCoor_d	ltpprz_pos
struct DoubleEulers	ltpprz_to_body_eulers
struct DoubleQuat	ltpprz_to_body_quat
int	nan_count
uint32_t	num_engines
bool	on_ground
double	pressure	current (static) atmospheric pressure in Pascal
double	pressure_sl	pressure at sea level in Pascal
float	right_aileron
float	rpm[FG_NET_FDM_MAX_ENGINES]
float	rudder
double	sideslip	sideslip angle in rad
double	temperature	current temperature in degrees Celcius
double	time
double	total_pressure	total atmospheric pressure in Pascal
struct DoubleVect3	wind	velocity in m/s in NED

Function Documentation

nps_fdm_init()

void nps_fdm_init

(

double

dt

)

NPS FDM rover init.

NPS FDM rover init.

Parameters

dt

Definition at line 119 of file nps_fdm_crrcsim.c.

References fixedwing_sim_state::airspeed, fixedwing_sim_state::attitude, _crrcsim::buf, crrcsim, NpsFdm::curr_dt, fixedwing_sim_state::delta_pitch, fixedwing_sim_state::delta_roll, fixedwing_sim_state::delta_thrust, NpsFdm::dynamic_pressure, EULERS_ASSIGN, fdm, FDMExec, fetch_state(), gazebo_actuators, gazebo_actuators_t::highpass, NpsFdm::init_dt, init_first_order_high_pass(), init_first_order_low_pass(), init_jsbsim(), init_ltp(), inputbuf_init(), gazebo_actuators_t::lowpass, NpsFdm::ltpprz_to_body_eulers, gazebo_actuators_t::max_ang_momentum, MIN_DT, min_dt, NpsFdm::nan_count, NPS_COMMANDS_NB, NPS_CRRCSIM_HOST_IP, NPS_CRRCSIM_HOST_PORT, nps_fdm_run_step(), offset, NpsFdm::on_ground, open_udp(), DoubleEulers::phi, fixedwing_sim_state::pos, PPRZ_ISA_SEA_LEVEL_PRESSURE, NpsFdm::pressure, NpsFdm::pressure_sl, DoubleEulers::psi, python_init(), fixedwing_sim_state::rates, send_servo_cmd(), sim_state, _crrcsim::socket, fixedwing_sim_state::speed, NpsFdm::temperature, DoubleEulers::theta, NpsFdm::time, NpsFdm::total_pressure, TRUE, UDP_NONBLOCKING, VECT3_ASSIGN, and fixedwing_sim_state::wind.

Referenced by nps_main_init().

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nps_fdm_run_step()

void nps_fdm_run_step	(	bool	launch,
		double *	act_commands,
		int	commands_nb
	)

Minimum complexity flight dynamic model In legacy Paparazzi simulator, was implemented in OCaml and correspond to the 'sim' target.

Johnson, E.N., Fontaine, S.G., and Kahn, A.D., “Minimum Complexity Uninhabited Air Vehicle Guidance And Flight Control System,” Proceedings of the 20th Digital Avionics Systems Conference, 2001. http://www.ae.gatech.edu/~ejohnson/JohnsonFontaineKahn.pdf

Johnson, E.N. and Fontaine, S.G., “Use Of Flight Simulation To Complement Flight Testing Of Low-Cost UAVs,” Proceedings of the AIAA Modeling and Simulation Technology Conference, 2001. http://www.ae.gatech.edu/~ejohnson/AIAA%202001-4059.pdf

Minimum complexity flight dynamic model In legacy Paparazzi simulator, was implemented in OCaml and correspond to the 'sim' target.

Parameters

launch
act_commands
commands_nb

Definition at line 150 of file nps_fdm_crrcsim.c.

References NpsFdm::agl, fixedwing_sim_state::airspeed, alpha, fixedwing_sim_state::attitude, AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE, NpsFdm::body_ecef_rotaccel, NpsFdm::body_ecef_rotvel, bullet_fdm, check_for_nan(), commands, crrcsim, NpsFdm::curr_dt, _crrcsim::data_buffer, decode_ahrspacket(), decode_gpspacket(), decode_imupacket(), fixedwing_sim_state::delta_pitch, fixedwing_sim_state::delta_roll, fixedwing_sim_state::delta_thrust, double_quat_of_eulers(), DRIVE_SHAFT_DISTANCE, NpsFdm::ecef_ecef_accel, NpsFdm::ecef_ecef_vel, ecef_of_enu_point_d(), ecef_of_enu_vect_d(), NpsFdm::ecef_pos, enu_of_ecef_point_d(), enu_of_ecef_vect_d(), FALSE, fdm, FDMExec, feed_jsbsim(), FeetOfMeters, fetch_state(), FLOAT_VECT2_NORM, gazebo_initialized, gazebo_read(), gazebo_write(), get_acc(), get_ang_acc(), get_ang_vel(), get_msg(), get_orient(), get_pos(), get_vel(), NpsFdm::hmsl, NpsFdm::init_dt, init_gazebo(), lla_of_ecef_d(), NpsFdm::lla_pos, NpsFdm::ltp_ecef_vel, NpsFdm::ltp_to_body_eulers, NpsFdm::ltp_to_body_quat, ltpdef, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, NpsFdm::ltpprz_to_body_eulers, MAX_DELTA, MAX_PPRZ, MAXIMUM_AIRSPEED, MAXIMUM_POWER, min_dt, model, mu, NpsFdm::nan_count, ned_of_ecef_point_d(), ned_of_ecef_vect_d(), DoubleRates::p, DoubleEulers::phi, PITCH_RESPONSE_FACTOR, fixedwing_sim_state::pos, PPRZ_ISA_GRAVITY, DoubleEulers::psi, py_check(), DoubleRates::q, DoubleRates::r, fixedwing_sim_state::rates, ROLL_MAX_SETPOINT, ROLL_RATE_MAX_SETPOINT, ROLL_RESPONSE_FACTOR, rover_acc, rover_pos, rover_vel, send_servo_cmd(), sim_state, fixedwing_sim_state::speed, DoubleEulers::theta, NpsFdm::time, TRUE, v2, vehicle_radius_max, WEIGHT, fixedwing_sim_state::wind, EnuCoor_d::x, EnuCoor_d::y, YAW_RESPONSE_FACTOR, NedCoor_d::z, and EnuCoor_d::z.

Referenced by nps_fdm_init(), and nps_main_run_sim_step().

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nps_fdm_set_temperature()

void nps_fdm_set_temperature	(	double	temp,
		double	h
	)

Set temperature in degrees Celcius at given height h above MSL.

Definition at line 306 of file nps_fdm_fixedwing_sim.c.

References FDMExec, and h().

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nps_fdm_set_turbulence()

void nps_fdm_set_turbulence	(	double	wind_speed,
		int	turbulence_severity
	)

Definition at line 211 of file nps_fdm_crrcsim.c.

References FDMExec, and FeetOfMeters.

Referenced by nps_atmosphere_update().

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nps_fdm_set_wind()

void nps_fdm_set_wind	(	double	speed,
		double	dir
	)

Definition at line 200 of file nps_fdm_crrcsim.c.

References dir, FDMExec, FeetOfMeters, sim_state, fixedwing_sim_state::wind, EnuCoor_d::x, EnuCoor_d::y, and EnuCoor_d::z.

nps_fdm_set_wind_ned()

void nps_fdm_set_wind_ned	(	double	wind_north,
		double	wind_east,
		double	wind_down
	)

Definition at line 205 of file nps_fdm_crrcsim.c.

References FDMExec, FeetOfMeters, sim_state, fixedwing_sim_state::wind, EnuCoor_d::x, EnuCoor_d::y, and EnuCoor_d::z.

Referenced by nps_atmosphere_update().

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Variable Documentation

fdm

struct NpsFdm fdm

extern

Holds all necessary NPS FDM state information.

Definition at line 1 of file nps_fdm_crrcsim.c.

Referenced by check_for_nan(), decode_ahrspacket(), decode_gpspacket(), decode_imupacket(), fetch_state(), gazebo_read(), get_acc(), get_ang_acc(), get_ang_vel(), get_orient(), get_pos(), get_vel(), gps_feed_value(), init_ltp(), nps_fdm_init(), nps_fdm_run_step(), nps_flightgear_send(), nps_flightgear_send_fdm(), nps_ivy_display(), nps_ivy_send_WORLD_ENV_REQ(), nps_main_display(), nps_main_loop(), nps_sensor_accel_run_step(), nps_sensor_airspeed_run_step(), nps_sensor_aoa_run_step(), nps_sensor_baro_run_step(), nps_sensor_gps_run_step(), nps_sensor_gyro_run_step(), nps_sensor_mag_run_step(), nps_sensor_sideslip_run_step(), nps_sensor_sonar_run_step(), nps_sensor_temperature_run_step(), sim_overwrite_ahrs(), and sim_overwrite_ins().