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)
	Initialize actuator dynamics, set unused fields in fdm. More...
void	nps_fdm_run_step (bool launch, double *commands, int commands_nb)
	Update the simulation state. 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

)

Initialize actuator dynamics, set unused fields in fdm.

Parameters

dt	Initialize actuator dynamics, set unused fields in fdm.

Definition at line 119 of file nps_fdm_crrcsim.c.

References _crrcsim::buf, crrcsim, NpsFdm::curr_dt, NpsFdm::dynamic_pressure, 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, offset, NpsFdm::on_ground, open_udp(), PPRZ_ISA_SEA_LEVEL_PRESSURE, NpsFdm::pressure, NpsFdm::pressure_sl, DoubleEulers::psi, send_servo_cmd(), _crrcsim::socket, NpsFdm::temperature, NpsFdm::time, NpsFdm::total_pressure, TRUE, UDP_NONBLOCKING, and VECT3_ASSIGN.

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
	)

Update the simulation state.

Parameters

launch
act_commands
commands_nb

Definition at line 150 of file nps_fdm_crrcsim.c.

References NpsFdm::agl, NpsFdm::body_ecef_rotaccel, NpsFdm::body_ecef_rotvel, check_for_nan(), commands, crrcsim, NpsFdm::curr_dt, _crrcsim::data_buffer, decode_ahrspacket(), decode_gpspacket(), decode_imupacket(), 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_msg(), NpsFdm::init_dt, init_gazebo(), 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, min_dt, model, mu, NpsFdm::nan_count, ned_of_ecef_point_d(), ned_of_ecef_vect_d(), DoubleEulers::psi, DoubleRates::r, rover_acc, rover_pos, rover_vel, send_servo_cmd(), NpsFdm::time, TRUE, vehicle_radius_max, EnuCoor_d::x, EnuCoor_d::y, and NedCoor_d::z.

Referenced by 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 319 of file nps_fdm_gazebo.cpp.

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, and FeetOfMeters.

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, and FeetOfMeters.

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(), gps_feed_value(), init_ltp(), nps_fdm_init(), nps_fdm_run_step(), nps_flightgear_send(), nps_flightgear_send_fdm(), nps_ins_data_loop(), 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().