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implement SITL in gazebosim with ArduCopterPlugin

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need implement fake eeprom & fake IO

need implement fake system function

can compile, stuck in isEEPROMContentValid()

EEPROM in memory work

EEPROM as file should work

fix some complie warning

MSP over TCP work (add dyad.c)

a little clean up

fix FLASH_CONFIG_Size in ld script & implement some pwmout

IO to simulator work!! need to check direction & scale!!

can fly but Gyro buggy

move dyad.c

fix busy-loop (limit to max 20kHz)

can simulatie in different speed now! (hard code)

add option for IMU calculation

add README.md

move dyad.c and fix F3 overrun the flash size

explanation SITL in README.md and reuse CFLAGS, ASFLAGS
This commit is contained in:
cs8425 2017-03-31 02:35:06 +08:00
parent c2307a4bea
commit 120fa21693
23 changed files with 2668 additions and 3 deletions
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29
src/main/flight/imu.c
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@ -395,6 +395,13 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
}
#endif
#if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC)
UNUSED(imuMahonyAHRSupdate);
UNUSED(useAcc);
UNUSED(useMag);
UNUSED(useYaw);
UNUSED(rawYawError);
#else
imuMahonyAHRSupdate(deltaT * 1e-6f,
DEGREES_TO_RADIANS(gyro.gyroADCf[X]), DEGREES_TO_RADIANS(gyro.gyroADCf[Y]), DEGREES_TO_RADIANS(gyro.gyroADCf[Z]),
useAcc, acc.accSmooth[X], acc.accSmooth[Y], acc.accSmooth[Z],
@ -402,7 +409,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
useYaw, rawYawError);
imuUpdateEulerAngles();
#endif
imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
}
@ -437,3 +444,23 @@ int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
angle = 900;
return lrintf(throttle_correction_value * sin_approx(angle / (900.0f * M_PIf / 2.0f)));
}
#ifdef SIMULATOR_BUILD
void imuSetAttitudeRPY(float roll, float pitch, float yaw)
{
attitude.values.roll = roll * 10;
attitude.values.pitch = pitch * 10;
attitude.values.yaw = yaw * 10;
}
void imuSetAttitudeQuat(float w, float x, float y, float z)
{
q0 = w;
q1 = x;
q2 = y;
q3 = z;
imuComputeRotationMatrix();
imuUpdateEulerAngles();
}
#endif