#include <SIM_Calibration.h>

Inheritance diagram for SITL::Calibration:

Collaboration diagram for SITL::Calibration:

Public Member Functions
	Calibration (const char home_str, const char frame_str)

void	update (const struct sitl_input &input)

Public Member Functions inherited from SITL::Aircraft
	Aircraft (const char home_str, const char frame_str)

void	set_speedup (float speedup)

void	set_instance (uint8_t _instance)

void	set_autotest_dir (const char *_autotest_dir)

virtual void	set_interface_ports (const char *address, const int port_in, const int port_out)

void	fill_fdm (struct sitl_fdm &fdm)

void	smooth_sensors (void)

float	get_rate_hz (void) const

const Vector3f &	get_gyro (void) const

const Vector3f &	get_velocity_ef (void) const

const Vector3f &	get_velocity_air_ef (void) const

const Matrix3f &	get_dcm (void) const

const Vector3f &	get_mag_field_bf (void) const

virtual float	gross_mass () const

const Location &	get_location () const

const Vector3f &	get_position () const

void	get_attitude (Quaternion &attitude) const

Static Public Member Functions
static Aircraft *	create (const char home_str, const char frame_str)

Static Public Member Functions inherited from SITL::Aircraft
static double	rand_normal (double mean, double stddev)

static bool	parse_home (const char *home_str, Location &loc, float &yaw_degrees)

Private Member Functions
void	_stop_control (const struct sitl_input &input, Vector3f &rot_accel)

void	_attitude_set (float desired_roll, float desired_pitch, float desired_yaw, Vector3f &rot_accel)

void	_attitude_control (const struct sitl_input &input, Vector3f &rot_accel)

void	_angular_velocity_control (const struct sitl_input &input, Vector3f &rot_accel)

void	_calibration_poses (Vector3f &rot_accel)

Additional Inherited Members
Protected Types inherited from SITL::Aircraft
enum	{ GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }

Protected Member Functions inherited from SITL::Aircraft
float	ground_height_difference () const

virtual bool	on_ground () const

float	hagl () const

void	update_position (void)

void	update_mag_field_bf (void)

void	time_advance ()

void	setup_frame_time (float rate, float speedup)

void	adjust_frame_time (float rate)

void	sync_frame_time (void)

void	add_noise (float throttle)

uint64_t	get_wall_time_us (void) const

void	update_dynamics (const Vector3f &rot_accel)

void	update_wind (const struct sitl_input &input)

float	filtered_idx (float v, uint8_t idx)

float	filtered_servo_angle (const struct sitl_input &input, uint8_t idx)

float	filtered_servo_range (const struct sitl_input &input, uint8_t idx)

void	extrapolate_sensors (float delta_time)

Protected Attributes inherited from SITL::Aircraft
SITL *	sitl

Location	home

Location	location

float	ground_level

float	home_yaw

float	frame_height

Matrix3f	dcm

Vector3f	gyro

Vector3f	gyro_prev

Vector3f	ang_accel

Vector3f	velocity_ef

Vector3f	wind_ef

Vector3f	velocity_air_ef

Vector3f	velocity_air_bf

Vector3f	position

float	mass

Vector3f	accel_body

float	airspeed

float	airspeed_pitot

float	battery_voltage = -1.0f

float	battery_current = 0.0f

float	rpm1 = 0

float	rpm2 = 0

uint8_t	rcin_chan_count = 0

float	rcin [8]

float	range = -1.0f

float	turbulence_azimuth = 0.0f

float	turbulence_horizontal_speed = 0.0f

float	turbulence_vertical_speed = 0.0f

Vector3f	mag_bf

uint64_t	time_now_us

const float	gyro_noise

const float	accel_noise

float	rate_hz

float	achieved_rate_hz

float	target_speedup

uint64_t	frame_time_us

float	scaled_frame_time_us

uint64_t	last_wall_time_us

uint8_t	instance

const char *	autotest_dir

const char *	frame

bool	use_time_sync = true

float	last_speedup = -1.0f

AP_Int8 *	ahrs_orientation

enum SITL::Aircraft:: { ... }	ground_behavior

bool	use_smoothing

AP_Terrain *	terrain

const float	FEET_TO_METERS = 0.3048f

const float	KNOTS_TO_METERS_PER_SECOND = 0.51444f

Detailed Description

Simulation model to simulate calibration of accelerometers and compasses.

The vehicle rotation can be controlled by sending PWM values to the servos input, denoted by PWM[i] for the i-th channel (starting by zero). All PWM values must be in [1000, 2000], otherwise that will cause undefined behavior.

There are four control modes, that are set with PWM[4]:

1) Stop (1000 <= PWM[4] < 1100): Stop the vehicle, i.e., stop the actuation of the other modes.

2) Attitude (1100 <= PWM[4] < 1200): Rotate the vehicle to the specified attitude. The attitude is defined with the PWM channels 5, 6 and 7 for roll, pitch and yaw angles, respectively. The PWM value for a desired angle in radians is given by:

pwm(theta) = 1500 + 500 * round(theta / pi)
where -pi <= theta <= pi

3) Simple autonomous compass calibration (1200 <= PWM[4] < 1300): Move continuously the vehicle through six calibration poses and do a rotation about each pose over a short period of time.

4) Angular Velocity (1300 <= PWM[4] <= 2000): Rotate the vehicle at a desired angular velocity. The angular velocity is specified by a rotation axis and an angular speed.

The x, y and z components of the rotation axis is given, respectively, by the PWM channels 5, 6 and 7 with an offset of 1500. The rotation axis is normalized internally, so that PWM[5,6,7] = [1600, 1300, 0] and PWM[5,6,7] = [1700, 1100, 0] means the same normalized rotation axis.

The angular speed value is specified by PWM[4]. The PWM value for a desired angular speed in radians/s is given by:

pwm(theta) = 1300 + 700 * round(theta / (2 * pi)),
where 0 <= theta <= 2 * pi

Definition at line 65 of file SIM_Calibration.h.

Constructor & Destructor Documentation

◆ Calibration()

SITL::Calibration::Calibration	(	const char *	home_str,
		const char *	frame_str
	)

Definition at line 27 of file SIM_Calibration.cpp.

Referenced by create().

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Member Function Documentation

◆ _angular_velocity_control()

void SITL::Calibration::_angular_velocity_control	(	const struct sitl_input &	input,
		Vector3f &	rot_accel
	)

private

Definition at line 106 of file SIM_Calibration.cpp.

Referenced by create(), and update().

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◆ _attitude_control()

void SITL::Calibration::_attitude_control	(	const struct sitl_input &	input,
		Vector3f &	rot_accel
	)

private

Definition at line 68 of file SIM_Calibration.cpp.

Referenced by create(), and update().

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◆ _attitude_set()

void SITL::Calibration::_attitude_set	(	float	desired_roll,
		float	desired_pitch,
		float	desired_yaw,
		Vector3f &	rot_accel
	)

private

Definition at line 79 of file SIM_Calibration.cpp.

Referenced by _attitude_control(), and create().

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◆ _calibration_poses()

void SITL::Calibration::_calibration_poses ( Vector3f & rot_accel )

private

Definition at line 131 of file SIM_Calibration.cpp.

Referenced by create(), and update().

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◆ _stop_control()

void SITL::Calibration::_stop_control	(	const struct sitl_input &	input,
		Vector3f &	rot_accel
	)

private

Definition at line 57 of file SIM_Calibration.cpp.

Referenced by create(), and update().

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◆ create()

static Aircraft* SITL::Calibration::create	(	const char *	home_str,
		const char *	frame_str
	)

inlinestatic

Definition at line 71 of file SIM_Calibration.h.

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◆ update()

void SITL::Calibration::update ( const struct sitl_input & input )

virtual

Implements SITL::Aircraft.

Definition at line 33 of file SIM_Calibration.cpp.

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The documentation for this class was generated from the following files:

libraries/SITL/SIM_Calibration.h
libraries/SITL/SIM_Calibration.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Calibration()

Member Function Documentation

◆ _angular_velocity_control()

◆ _attitude_control()

◆ _attitude_set()

◆ _calibration_poses()

◆ _stop_control()

◆ create()

◆ update()