nps_fdm_fixedwing_sim.c File Reference

#include "nps_fdm.h"
#include <stdlib.h>
#include <stdio.h>
#include "std.h"
#include "math/pprz_geodetic.h"
#include "math/pprz_geodetic_double.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_isa.h"
#include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "state.h"

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Data Structures
struct	fixedwing_sim_state

Macros
#define	ROLL_RESPONSE_FACTOR   15.
#define	PITCH_RESPONSE_FACTOR   1.
#define	YAW_RESPONSE_FACTOR   1.
#define	WEIGHT   1.
#define	ROLL_MAX_SETPOINT   RadOfDeg(40.)
#define	ROLL_RATE_MAX_SETPOINT   RadOfDeg(15.)
#define	MAXIMUM_AIRSPEED   (NOMINAL_AIRSPEED * 1.5)
#define	MAXIMUM_POWER   (5. * MAXIMUM_AIRSPEED * WEIGHT)
#define	AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE   0.45

Functions
static void	init_ltp (void)
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
static struct LtpDef_d	ltpdef
static struct fixedwing_sim_state	sim_state

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Data Structure Documentation

fixedwing_sim_state

struct fixedwing_sim_state

Definition at line 93 of file nps_fdm_fixedwing_sim.c.

Collaboration diagram for fixedwing_sim_state:

Data Fields
double	airspeed
struct DoubleEulers	attitude
double	delta_pitch
double	delta_roll
double	delta_thrust
struct EnuCoor_d	pos
struct DoubleEulers	rates
struct EnuCoor_d	speed
struct EnuCoor_d	wind

Macro Definition Documentation

AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE

#define AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE   0.45

Definition at line 81 of file nps_fdm_fixedwing_sim.c.

MAXIMUM_AIRSPEED

#define MAXIMUM_AIRSPEED   (NOMINAL_AIRSPEED * 1.5)

Definition at line 73 of file nps_fdm_fixedwing_sim.c.

MAXIMUM_POWER

#define MAXIMUM_POWER   (5. * MAXIMUM_AIRSPEED * WEIGHT)

Definition at line 77 of file nps_fdm_fixedwing_sim.c.

PITCH_RESPONSE_FACTOR

#define PITCH_RESPONSE_FACTOR   1.

Definition at line 49 of file nps_fdm_fixedwing_sim.c.

ROLL_MAX_SETPOINT

#define ROLL_MAX_SETPOINT   RadOfDeg(40.)

Definition at line 61 of file nps_fdm_fixedwing_sim.c.

ROLL_RATE_MAX_SETPOINT

#define ROLL_RATE_MAX_SETPOINT   RadOfDeg(15.)

Definition at line 65 of file nps_fdm_fixedwing_sim.c.

ROLL_RESPONSE_FACTOR

#define ROLL_RESPONSE_FACTOR   15.

Definition at line 45 of file nps_fdm_fixedwing_sim.c.

WEIGHT

#define WEIGHT   1.

Definition at line 57 of file nps_fdm_fixedwing_sim.c.

YAW_RESPONSE_FACTOR

#define YAW_RESPONSE_FACTOR   1.

Definition at line 53 of file nps_fdm_fixedwing_sim.c.

Function Documentation

init_ltp()

static void init_ltp ( void  )

static

Definition at line 258 of file nps_fdm_fixedwing_sim.c.

References LlaCoor_d::alt, ecef_of_lla_d(), NpsFdm::ecef_pos, fdm, LlaCoor_d::lat, LlaCoor_d::lon, ltp_def_from_ecef_d(), NpsFdm::ltp_g, NpsFdm::ltp_h, ltpdef, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

Referenced by nps_fdm_init().

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nps_fdm_init()

void nps_fdm_init

(

double

dt

)

NPS FDM rover init.

Definition at line 109 of file nps_fdm_fixedwing_sim.c.

References fixedwing_sim_state::airspeed, fixedwing_sim_state::attitude, NpsFdm::curr_dt, fixedwing_sim_state::delta_pitch, fixedwing_sim_state::delta_roll, fixedwing_sim_state::delta_thrust, NpsFdm::dynamic_pressure, EULERS_ASSIGN, fdm, NpsFdm::init_dt, init_ltp(), NpsFdm::ltpprz_to_body_eulers, NpsFdm::nan_count, NpsFdm::on_ground, DoubleEulers::phi, fixedwing_sim_state::pos, PPRZ_ISA_SEA_LEVEL_PRESSURE, NpsFdm::pressure, NpsFdm::pressure_sl, DoubleEulers::psi, fixedwing_sim_state::rates, sim_state, fixedwing_sim_state::speed, NpsFdm::temperature, DoubleEulers::theta, NpsFdm::time, NpsFdm::total_pressure, TRUE, VECT3_ASSIGN, and fixedwing_sim_state::wind.

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nps_fdm_run_step()

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.

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

Definition at line 156 of file nps_fdm_fixedwing_sim.c.

References fixedwing_sim_state::airspeed, alpha, fixedwing_sim_state::attitude, AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE, NpsFdm::body_ecef_rotvel, commands, NpsFdm::curr_dt, fixedwing_sim_state::delta_pitch, fixedwing_sim_state::delta_roll, fixedwing_sim_state::delta_thrust, double_quat_of_eulers(), NpsFdm::ecef_ecef_accel, NpsFdm::ecef_ecef_vel, ecef_of_enu_point_d(), ecef_of_enu_vect_d(), NpsFdm::ecef_pos, fdm, NpsFdm::hmsl, lla_of_ecef_d(), NpsFdm::lla_pos, NpsFdm::ltp_to_body_eulers, NpsFdm::ltp_to_body_quat, ltpdef, NpsFdm::ltpprz_ecef_accel, NpsFdm::ltpprz_ecef_vel, NpsFdm::ltpprz_pos, MAX_PPRZ, MAXIMUM_AIRSPEED, MAXIMUM_POWER, 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, DoubleRates::q, DoubleRates::r, fixedwing_sim_state::rates, ROLL_MAX_SETPOINT, ROLL_RATE_MAX_SETPOINT, ROLL_RESPONSE_FACTOR, sim_state, fixedwing_sim_state::speed, DoubleEulers::theta, v2, WEIGHT, fixedwing_sim_state::wind, EnuCoor_d::x, EnuCoor_d::y, YAW_RESPONSE_FACTOR, NedCoor_d::z, and EnuCoor_d::z.

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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 305 of file nps_fdm_fixedwing_sim.c.

nps_fdm_set_turbulence()

void nps_fdm_set_turbulence	(	double	wind_speed,
		int	turbulence_severity
	)

Definition at line 300 of file nps_fdm_fixedwing_sim.c.

nps_fdm_set_wind()

void nps_fdm_set_wind	(	double	speed,
		double	dir
	)

Definition at line 286 of file nps_fdm_fixedwing_sim.c.

References dir, 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 293 of file nps_fdm_fixedwing_sim.c.

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

Variable Documentation

fdm

struct NpsFdm fdm

Definition at line 1 of file nps_fdm_fixedwing_sim.c.

Referenced by init_ltp(), nps_fdm_init(), and nps_fdm_run_step().

ltpdef

struct LtpDef_d ltpdef

static

Definition at line 1 of file nps_fdm_fixedwing_sim.c.

Referenced by init_ltp(), and nps_fdm_run_step().

sim_state

struct fixedwing_sim_state sim_state

static

Definition at line 91 of file nps_fdm_fixedwing_sim.c.

Referenced by nps_fdm_init(), nps_fdm_run_step(), nps_fdm_set_wind(), and nps_fdm_set_wind_ned().