nps_fdm_rover.c File Reference

#include "nps_fdm.h"
#include <stdlib.h>
#include <stdio.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 "firmwares/rover/guidance/rover_guidance_steering.h"
#include "state.h"

Include dependency graph for nps_fdm_rover.c:

Go to the source code of this file.

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)
	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...
static struct LtpDef_d	ltpdef
static struct EnuCoor_d	rover_pos
	Physical model structures. More...
static struct EnuCoor_d	rover_vel
static struct EnuCoor_d	rover_acc
static float	mu = 0.01
	Physical model parameters. More...

Function Documentation

init_ltp()

static void init_ltp ( void  )

static

Definition at line 166 of file nps_fdm_rover.c.

References 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, PRINT_CONFIG_MSG(), DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

Referenced by nps_fdm_init().

Here is the call graph for this function:

Here is the caller graph for this function:

nps_fdm_init()

void nps_fdm_init

(

double

dt

)

NPS FDM rover init.

Initialize actuator dynamics, set unused fields in fdm.

Definition at line 64 of file nps_fdm_rover.c.

References _crrcsim::buf, crrcsim, NpsFdm::curr_dt, NpsFdm::dynamic_pressure, fdm, NpsFdm::init_dt, init_ltp(), inputbuf_init(), NpsFdm::ltpprz_to_body_eulers, NpsFdm::nan_count, NPS_CRRCSIM_HOST_IP, NPS_CRRCSIM_HOST_PORT, 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, and UDP_NONBLOCKING.

Referenced by nps_main_init().

Here is the call graph for this function:

Here is the caller graph for this function:

nps_fdm_run_step()

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

Update the simulation state.

Parameters

launch
act_commands
commands_nb

Definition at line 83 of file nps_fdm_rover.c.

References NpsFdm::body_ecef_rotaccel, NpsFdm::body_ecef_rotvel, 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(), fdm, FLOAT_VECT2_NORM, get_msg(), 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, mu, ned_of_ecef_point_d(), ned_of_ecef_vect_d(), DoubleEulers::psi, DoubleRates::r, rover_acc, rover_pos, rover_vel, send_servo_cmd(), EnuCoor_d::x, and EnuCoor_d::y.

Referenced by nps_main_run_sim_step().

Here is the call graph for this function:

Here is the caller graph for this function:

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 217 of file nps_fdm_rover.c.

nps_fdm_set_turbulence()

void nps_fdm_set_turbulence	(	double	wind_speed,
		int	turbulence_severity
	)

Definition at line 212 of file nps_fdm_rover.c.

Referenced by nps_atmosphere_update().

Here is the caller graph for this function:

nps_fdm_set_wind()

void nps_fdm_set_wind	(	double	speed,
		double	dir
	)

Definition at line 201 of file nps_fdm_rover.c.

nps_fdm_set_wind_ned()

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

Definition at line 206 of file nps_fdm_rover.c.

Referenced by nps_atmosphere_update().

Here is the caller graph for this function:

Variable Documentation

fdm

struct NpsFdm fdm

Holds all necessary NPS FDM state information.

Definition at line 1 of file nps_fdm_rover.c.

Referenced by 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().

ltpdef

struct LtpDef_d ltpdef

static

Definition at line 1 of file nps_fdm_rover.c.

Referenced by init_ltp(), and nps_fdm_run_step().

mu

float mu = 0.01

static

Physical model parameters.

Definition at line 60 of file nps_fdm_rover.c.

Referenced by calc_g1_element(), calc_g2_element(), find_contour(), and nps_fdm_run_step().

rover_acc

struct EnuCoor_d rover_acc

static

Definition at line 52 of file nps_fdm_rover.c.

Referenced by nps_fdm_run_step().

rover_pos

struct EnuCoor_d rover_pos

static

Physical model structures.

Definition at line 52 of file nps_fdm_rover.c.

Referenced by nps_fdm_run_step().

rover_vel

struct EnuCoor_d rover_vel

static

Definition at line 52 of file nps_fdm_rover.c.

Referenced by nps_fdm_run_step().