#include <SIM_FlightAxis.h>

Inheritance diagram for SITL::FlightAxis:

Collaboration diagram for SITL::FlightAxis:

Classes
struct	keytable

struct	state

Public Member Functions
	FlightAxis (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)

virtual void	update (const struct sitl_input &input)=0

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)

Public Attributes
struct SITL::FlightAxis::state	state

struct SITL::FlightAxis::keytable	keytable [num_keys]

Static Public Attributes
static const uint16_t	num_keys = sizeof(state)/sizeof(double)

Private Member Functions
char *	soap_request (const char action, const char fmt,...)

void	exchange_data (const struct sitl_input &input)

void	parse_reply (const char *reply)

void	update_loop (void)

void	report_FPS (void)

Static Private Member Functions
static void *	update_thread (void *arg)

Private Attributes
struct sitl_input	last_input

double	average_frame_time_s

double	extrapolated_s

double	initial_time_s

double	last_time_s

bool	heli_demix

bool	rev4_servos

bool	controller_started

uint64_t	frame_counter

uint64_t	activation_frame_counter

uint64_t	socket_frame_counter

uint64_t	last_socket_frame_counter

double	last_frame_count_s

Vector3f	position_offset

Vector3f	last_velocity_ef

const char *	controller_ip = "127.0.0.1"

uint16_t	controller_port = 18083

pthread_t	thread

AP_HAL::Semaphore *	mutex

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

Definition at line 30 of file SIM_FlightAxis.h.

Constructor & Destructor Documentation

◆ FlightAxis()

FlightAxis::FlightAxis	(	const char *	home_str,
		const char *	frame_str
	)

Definition at line 75 of file SIM_FlightAxis.cpp.

Referenced by create().

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Member Function Documentation

◆ create()

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

inlinestatic

Definition at line 38 of file SIM_FlightAxis.h.

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◆ exchange_data()

void FlightAxis::exchange_data ( const struct sitl_input & input )

private

Definition at line 244 of file SIM_FlightAxis.cpp.

Referenced by update_loop().

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◆ parse_reply()

void FlightAxis::parse_reply ( const char * reply )

private

Definition at line 135 of file SIM_FlightAxis.cpp.

Referenced by exchange_data().

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◆ report_FPS()

void FlightAxis::report_FPS ( void )

private

Definition at line 475 of file SIM_FlightAxis.cpp.

Referenced by update().

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◆ soap_request()

char * FlightAxis::soap_request	(	const char *	action,
		const char *	fmt,
			...
	)

private

Definition at line 170 of file SIM_FlightAxis.cpp.

Referenced by exchange_data().

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◆ update()

void FlightAxis::update ( const struct sitl_input & input )

Definition at line 345 of file SIM_FlightAxis.cpp.

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◆ update_loop()

void FlightAxis::update_loop ( void )

private

Definition at line 121 of file SIM_FlightAxis.cpp.

Referenced by update_thread().

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◆ update_thread()

void * FlightAxis::update_thread ( void * arg )

staticprivate

Definition at line 102 of file SIM_FlightAxis.cpp.

Referenced by FlightAxis().

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Member Data Documentation

◆ activation_frame_counter

uint64_t SITL::FlightAxis::activation_frame_counter

private

Definition at line 173 of file SIM_FlightAxis.h.

Referenced by exchange_data().

◆ average_frame_time_s

double SITL::FlightAxis::average_frame_time_s

private

Definition at line 165 of file SIM_FlightAxis.h.

Referenced by exchange_data(), report_FPS(), and update().

◆ controller_ip

const char* SITL::FlightAxis::controller_ip = "127.0.0.1"

private

Definition at line 180 of file SIM_FlightAxis.h.

Referenced by exchange_data(), FlightAxis(), and soap_request().

◆ controller_port

uint16_t SITL::FlightAxis::controller_port = 18083

private

Definition at line 181 of file SIM_FlightAxis.h.

Referenced by soap_request().

◆ controller_started

bool SITL::FlightAxis::controller_started

private

Definition at line 171 of file SIM_FlightAxis.h.

Referenced by exchange_data(), and parse_reply().

◆ extrapolated_s

double SITL::FlightAxis::extrapolated_s

private

Definition at line 166 of file SIM_FlightAxis.h.

Referenced by update().

◆ frame_counter

uint64_t SITL::FlightAxis::frame_counter

private

Definition at line 172 of file SIM_FlightAxis.h.

Referenced by exchange_data(), and report_FPS().

◆ heli_demix

bool SITL::FlightAxis::heli_demix

private

Definition at line 169 of file SIM_FlightAxis.h.

Referenced by exchange_data(), and FlightAxis().

◆ initial_time_s

double SITL::FlightAxis::initial_time_s

private

Definition at line 167 of file SIM_FlightAxis.h.

Referenced by update().

◆ keytable

struct SITL::FlightAxis::keytable SITL::FlightAxis::keytable[num_keys]

◆ last_frame_count_s

double SITL::FlightAxis::last_frame_count_s

private

Definition at line 176 of file SIM_FlightAxis.h.

Referenced by report_FPS().

◆ last_input

struct sitl_input SITL::FlightAxis::last_input

private

Definition at line 163 of file SIM_FlightAxis.h.

Referenced by update(), and update_loop().

◆ last_socket_frame_counter

uint64_t SITL::FlightAxis::last_socket_frame_counter

private

Definition at line 175 of file SIM_FlightAxis.h.

Referenced by report_FPS().

◆ last_time_s

double SITL::FlightAxis::last_time_s

private

Definition at line 168 of file SIM_FlightAxis.h.

Referenced by update().

◆ last_velocity_ef

Vector3f SITL::FlightAxis::last_velocity_ef

private

Definition at line 178 of file SIM_FlightAxis.h.

Referenced by update().

◆ mutex

AP_HAL::Semaphore* SITL::FlightAxis::mutex

private

Definition at line 184 of file SIM_FlightAxis.h.

Referenced by exchange_data(), FlightAxis(), update(), and update_loop().

◆ num_keys

const uint16_t SITL::FlightAxis::num_keys = sizeof(state)/sizeof(double)

static

Definition at line 92 of file SIM_FlightAxis.h.

Referenced by parse_reply().

◆ position_offset

Vector3f SITL::FlightAxis::position_offset

private

Definition at line 177 of file SIM_FlightAxis.h.

Referenced by update().

◆ rev4_servos

bool SITL::FlightAxis::rev4_servos

private

Definition at line 170 of file SIM_FlightAxis.h.

Referenced by exchange_data(), and FlightAxis().

◆ socket_frame_counter

uint64_t SITL::FlightAxis::socket_frame_counter

private

Definition at line 174 of file SIM_FlightAxis.h.

Referenced by exchange_data(), and report_FPS().

◆ state

struct SITL::FlightAxis::state SITL::FlightAxis::state

◆ thread

pthread_t SITL::FlightAxis::thread

private

Definition at line 183 of file SIM_FlightAxis.h.

Referenced by FlightAxis().

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

libraries/SITL/SIM_FlightAxis.h
libraries/SITL/SIM_FlightAxis.cpp

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightAxis()

Member Function Documentation

◆ create()

◆ exchange_data()

◆ parse_reply()

◆ report_FPS()

◆ soap_request()

◆ update()

◆ update_loop()

◆ update_thread()

Member Data Documentation

◆ activation_frame_counter

◆ average_frame_time_s

◆ controller_ip

◆ controller_port

◆ controller_started

◆ extrapolated_s

◆ frame_counter

◆ heli_demix

◆ initial_time_s

◆ keytable

◆ last_frame_count_s

◆ last_input

◆ last_socket_frame_counter

◆ last_time_s

◆ last_velocity_ef

◆ mutex

◆ num_keys

◆ position_offset

◆ rev4_servos

◆ socket_frame_counter

◆ state

◆ thread