#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"

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Functions
static void	init_ltp (void)

void	nps_fdm_init (double dt)
	NPS FDM rover init.

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.

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.

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

static struct LtpDef_d	ltpdef

static struct EnuCoor_d	rover_pos
	Physical model structures.

static struct EnuCoor_d	rover_vel

static struct EnuCoor_d	rover_acc

static float	mu = 0.01
	Physical model parameters.

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, foo, LlaCoor_d::lat, 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().

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◆ nps_fdm_init()

void nps_fdm_init ( double dt )

NPS FDM rover init.

Parameters

dt

Definition at line 64 of file nps_fdm_rover.c.

References _crrcsim::buf, crrcsim, NpsFdm::curr_dt, NpsFdm::dynamic_pressure, fdm, foo, NpsFdm::init_dt, init_ltp(), 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().

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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

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

Parameters