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SITL: Actualize InertialLabs sim
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@peterbarker
Valentin Bugrov authored and peterbarker committed Sep 14, 2024
1 parent 092a95e commit 79bd823
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162 changes: 118 additions & 44 deletions libraries/SITL/SIM_InertialLabs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,72 +31,146 @@ void InertialLabs::send_packet(void)

pkt.msg_len = sizeof(pkt)-2;

pkt.accel_data_hr.x = (fdm.yAccel * 1.0e6)/GRAVITY_MSS;
pkt.accel_data_hr.y = (fdm.xAccel * 1.0e6)/GRAVITY_MSS;
pkt.accel_data_hr.z = (-fdm.zAccel * 1.0e6)/GRAVITY_MSS;
const auto gps_tow = GPS_Backend::gps_time();

// 0x01 GPS INS Time (round)
pkt.gps_ins_time_ms = gps_tow.ms;

// 0x23 Accelerometer data HR
pkt.accel_data_hr.x = (fdm.yAccel / GRAVITY_MSS) * 1.0e6; // g*1.0e6
pkt.accel_data_hr.y = (fdm.xAccel / GRAVITY_MSS) * 1.0e6; // g*1.0e6
pkt.accel_data_hr.z = (-fdm.zAccel / GRAVITY_MSS) * 1.0e6; // g*1.0e6

pkt.gyro_data_hr.y = fdm.rollRate*1.0e5;
pkt.gyro_data_hr.x = fdm.pitchRate*1.0e5;
pkt.gyro_data_hr.z = -fdm.yawRate*1.0e5;
// 0x21 Gyro data HR
pkt.gyro_data_hr.y = fdm.rollRate * 1.0e5; // deg/s*1.0e5
pkt.gyro_data_hr.x = fdm.pitchRate * 1.0e5; // deg/s*1.0e5
pkt.gyro_data_hr.z = -fdm.yawRate * 1.0e5; // deg/s*1.0e5

// 0x25 Barometer data
float p, t_K;
AP_Baro::get_pressure_temperature_for_alt_amsl(fdm.altitude+rand_float()*0.25, p, t_K);

pkt.baro_data.pressure_pa2 = p;
pkt.baro_data.baro_alt = fdm.altitude;
pkt.temperature = KELVIN_TO_C(t_K);
pkt.baro_data.pressure_pa2 = p * 0.5; // Pa/2
pkt.baro_data.baro_alt = fdm.altitude * 100; // m

pkt.mag_data.x = (fdm.bodyMagField.y / NTESLA_TO_MGAUSS)*0.1;
pkt.mag_data.y = (fdm.bodyMagField.x / NTESLA_TO_MGAUSS)*0.1;
pkt.mag_data.z = (-fdm.bodyMagField.z / NTESLA_TO_MGAUSS)*0.1;
// 0x24 Magnetometer data
pkt.mag_data.x = (fdm.bodyMagField.y / NTESLA_TO_MGAUSS) * 0.1; // nT/10
pkt.mag_data.y = (fdm.bodyMagField.x / NTESLA_TO_MGAUSS) * 0.1; // nT/10
pkt.mag_data.z = (-fdm.bodyMagField.z / NTESLA_TO_MGAUSS) * 0.1; // nT/10

pkt.orientation_angles.roll = fdm.rollDeg*100;
pkt.orientation_angles.pitch = fdm.pitchDeg*100;
pkt.orientation_angles.yaw = fdm.yawDeg*100;
// 0x07 Orientation angles
float roll_rad, pitch_rad, yaw_rad, heading_deg;
fdm.quaternion.to_euler(roll_rad, pitch_rad, yaw_rad);
heading_deg = fmodf(degrees(yaw_rad), 360.0f);
if (heading_deg < 0.0f) {
heading_deg += 360.0f;
}
pkt.orientation_angles.roll = roll_rad * RAD_TO_DEG * 100; // deg*100
pkt.orientation_angles.pitch = pitch_rad * RAD_TO_DEG * 100; // deg*100
pkt.orientation_angles.yaw = heading_deg * 100; // deg*100

pkt.velocity.x = fdm.speedE*100;
pkt.velocity.y = fdm.speedN*100;
pkt.velocity.z = -fdm.speedD*100;
// 0x12 Velocities
pkt.velocity.x = fdm.speedE * 100; // m/s*100
pkt.velocity.y = fdm.speedN * 100; // m/s*100
pkt.velocity.z = -fdm.speedD * 100; // m/s*100

pkt.position.lat = fdm.latitude*1e7;
pkt.position.lon = fdm.longitude*1e7;
pkt.position.alt = fdm.altitude*1e2;
// 0x10 Position
pkt.position.lat = fdm.latitude * 1e7; // deg*1.0e7
pkt.position.lon = fdm.longitude * 1e7; // deg*1.0e7
pkt.position.alt = fdm.altitude * 1e2; // m*100

pkt.kf_vel_covariance.x = 10;
pkt.kf_vel_covariance.z = 10;
pkt.kf_vel_covariance.z = 10;
// 0x58 KF velocity covariance
pkt.kf_vel_covariance.x = 10; // mm/s
pkt.kf_vel_covariance.y = 10; // mm/s
pkt.kf_vel_covariance.z = 10; // mm/s

pkt.kf_pos_covariance.x = 20;
pkt.kf_pos_covariance.z = 20;
pkt.kf_pos_covariance.z = 20;
// 0x57 KF position covariance HR
pkt.kf_pos_covariance.x = 20; // mm
pkt.kf_pos_covariance.y = 20; // mm
pkt.kf_pos_covariance.z = 20; // mm

const auto gps_tow = GPS_Backend::gps_time();
// 0x53 Unit status word (USW)
pkt.unit_status = 0; // INS data is valid

pkt.gps_ins_time_ms = gps_tow.ms;
// 0x28 Differential pressure
pkt.differential_pressure = fdm.airspeed_raw_pressure[0] * 0.01 * 1.0e4; // mbar*1.0e4 (0.01 - Pa to mbar)

pkt.gnss_new_data = 0;
// 0x86 True airspeed (TAS)
pkt.true_airspeed = fdm.airspeed * 100; // m/s*100

// 0x8A Wind speed
pkt.wind_speed.x = fdm.wind_ef.y * 100;
pkt.wind_speed.y = fdm.wind_ef.x * 100;
pkt.wind_speed.z = 0;

// 0x8D ADU status
pkt.air_data_status = 0; // ADU data is valid

// 0x50 Supply voltage
pkt.supply_voltage = 12.3 * 100; // VDC*100

// 0x52 Temperature
pkt.temperature = KELVIN_TO_C(t_K)*10; // degC

// 0x5A Unit status word (USW2)
pkt.unit_status2 = 0; // INS data is valid

// 0x54 INS (Navigation) solution status
pkt.ins_sol_status = 0; // INS solution is good

pkt.gnss_new_data = 0;
if (packets_sent % gps_frequency == 0) {
// update GPS data at 5Hz
// 0x3C GPS week
pkt.gps_week = gps_tow.week;
pkt.gnss_pos_timestamp = gps_tow.ms;
pkt.gnss_new_data = 3;
pkt.gps_position.lat = pkt.position.lat;
pkt.gps_position.lon = pkt.position.lon;
pkt.gps_position.alt = pkt.position.alt;

// 0x4A GNSS extended info
pkt.gnss_extended_info.fix_type = 2; // 3D fix
pkt.gnss_extended_info.spoofing_status = 1; // no spoofing indicated

// 0x3B Number of satellites used in solution
pkt.num_sats = 32;
pkt.gnss_vel_track.hor_speed = norm(fdm.speedN,fdm.speedE)*100;

// 0x30 GNSS Position
pkt.gps_position.lat = fdm.latitude * 1e7; // deg*1.0e7
pkt.gps_position.lon = fdm.longitude * 1e7; // deg*1.0e7
pkt.gps_position.alt = fdm.altitude * 1e2; // m*100

// 0x32 GNSS Velocity, Track over ground
Vector2d track{fdm.speedN,fdm.speedE};
pkt.gnss_vel_track.track_over_ground = wrap_360(degrees(track.angle()))*100;
pkt.gnss_vel_track.ver_speed = -fdm.speedD*100;
pkt.gnss_vel_track.hor_speed = norm(fdm.speedN,fdm.speedE) * 100; // m/s*100
pkt.gnss_vel_track.track_over_ground = wrap_360(degrees(track.angle())) * 100; // deg*100
pkt.gnss_vel_track.ver_speed = -fdm.speedD * 100; // m/s*100

pkt.gnss_extended_info.fix_type = 2;
}
// 0x3E GNSS Position timestamp
pkt.gnss_pos_timestamp = gps_tow.ms;

pkt.differential_pressure = 0.5*sq(fdm.airspeed+fabsF(rand_float()*0.25))*1.0e4;
pkt.supply_voltage = 12.3*100;
pkt.temperature = 23.4*10;
// 0x36 GNSS info short
pkt.gnss_info_short.info1 = 0; // 0 – Single point position
pkt.gnss_info_short.info2 = 12; // bit 2 and 3 are set (Time is fine set and is being steered)

// 0x41 New GPS
pkt.gnss_new_data = 3; // GNSS position and velocity data update

// 0xС0 u-blox jamming status
pkt.gnss_jam_status = 1; // ok (no significant jamming)

// 0x33 GNSS Heading, GNSS Pitch
pkt.gnss_angles.heading = 0; // only for dual-antenna GNSS receiver
pkt.gnss_angles.pitch = 0; // only for dual-antenna GNSS receiver

// 0x3A GNSS Angles position type
pkt.gnss_angle_pos_type = 0; // only for dual-antenna GNSS receiver

// 0x40 GNSS Heading timestamp
pkt.gnss_heading_timestamp = 0; // only for dual-antenna GNSS receiver

// 0x42 Dilution of precision
pkt.gnss_dop.gdop = 1000; // *1.0e3
pkt.gnss_dop.pdop = 1000; // *1.0e3
pkt.gnss_dop.hdop = 1000; // *1.0e3
pkt.gnss_dop.vdop = 1000; // *1.0e3
pkt.gnss_dop.tdop = 1000; // *1.0e3
}

const uint8_t *buffer = (const uint8_t *)&pkt;
pkt.crc = crc_sum_of_bytes_16(&buffer[2], sizeof(pkt)-4);
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30 changes: 22 additions & 8 deletions libraries/SITL/SIM_InertialLabs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,16 +52,16 @@ class InertialLabs : public SerialDevice

struct PACKED ILabsPacket {
uint16_t magic = 0x55AA;
uint8_t msg_type = 1;
uint8_t msg_type = 0x01;
uint8_t msg_id = 0x95;
uint16_t msg_len; // total packet length-2

// send Table4, 27 messages
uint8_t num_messages = 27;
uint8_t messages[27] = {
// send Table4, 32 messages
uint8_t num_messages = 32;
uint8_t messages[32] = {
0x01, 0x3C, 0x23, 0x21, 0x25, 0x24, 0x07, 0x12, 0x10, 0x58, 0x57, 0x53, 0x4a,
0x3b, 0x30, 0x32, 0x3e, 0x36, 0x41, 0xc0, 0x28, 0x86, 0x8a, 0x8d, 0x50,
0x52, 0x5a
0x3b, 0x30, 0x32, 0x3e, 0x36, 0x41, 0xc0, 0x28, 0x86, 0x8a, 0x8d, 0x50, 0x52,
0x5a, 0x33, 0x3a, 0x40, 0x42, 0x54
};
uint32_t gps_ins_time_ms; // ms since start of GPS week for IMU data
uint16_t gps_week;
Expand All @@ -73,7 +73,7 @@ class InertialLabs : public SerialDevice
} baro_data;
vec3_16_t mag_data; // nT/10
struct PACKED {
int16_t yaw; // deg*100
uint16_t yaw; // deg*100
int16_t pitch; // deg*100
int16_t roll; // deg*100
} orientation_angles; // 321 euler order
Expand All @@ -84,7 +84,7 @@ class InertialLabs : public SerialDevice
int32_t alt; // m*100, AMSL
} position;
vec3_u8_t kf_vel_covariance; // mm/s
vec3_u16_t kf_pos_covariance;
vec3_u16_t kf_pos_covariance; // mm
uint16_t unit_status;
gnss_extended_info_t gnss_extended_info;
uint8_t num_sats;
Expand All @@ -109,6 +109,20 @@ class InertialLabs : public SerialDevice
uint16_t supply_voltage; // V*100
int16_t temperature; // degC*10
uint16_t unit_status2;
struct PACKED {
uint16_t heading; // deg*100
int16_t pitch; // deg*100
} gnss_angles;
uint8_t gnss_angle_pos_type;
uint32_t gnss_heading_timestamp; // ms
struct PACKED {
uint16_t gdop;
uint16_t pdop;
uint16_t hdop;
uint16_t vdop;
uint16_t tdop;
} gnss_dop; // 10e3
uint8_t ins_sol_status;
uint16_t crc;
} pkt;

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