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SITL: FlightAxis Improvements #28282

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Oct 25, 2024
Merged

SITL: FlightAxis Improvements #28282

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4536af3
SITL: FlightAxis: add options bitmask parameter
robertlong13 Oct 2, 2024
53b6317
SITL: FlightAxis: add position reset option
robertlong13 Oct 2, 2024
0556889
SITL: FlightAxis: add option to silence FPS
robertlong13 Oct 2, 2024
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48 changes: 40 additions & 8 deletions libraries/SITL/SIM_FlightAxis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@

#include "SIM_FlightAxis.h"

#if HAL_SIM_FLIGHTAXIS_ENABLED
#if AP_SIM_FLIGHTAXIS_ENABLED

#include <arpa/inet.h>
#include <errno.h>
Expand All @@ -36,6 +36,19 @@ extern const AP_HAL::HAL& hal;

using namespace SITL;

const AP_Param::GroupInfo FlightAxis::var_info[] = {
// @Param: OPTS
// @DisplayName: FlightAxis options
// @Description: Bitmask of FlightAxis options
// @Bitmask: 0: Reset position on startup
// @Bitmask: 1: Swap first 4 and last 4 servos (for quadplane testing)
// @Bitmask: 2: Demix heli servos and send roll/pitch/collective/yaw
// @Bitmask: 3: Don't print frame rate stats
// @User: Advanced
AP_GROUPINFO("OPTS", 1, FlightAxis, _options, uint32_t(Option::ResetPosition)),
AP_GROUPEND
};

/*
we use a thread for socket creation to reduce the impact of socket
creation latency. These condition variables are used to synchronise
Expand Down Expand Up @@ -108,10 +121,18 @@ static double timestamp_sec()
FlightAxis::FlightAxis(const char *frame_str) :
Aircraft(frame_str)
{
AP::sitl()->models.flightaxis_ptr = this;
AP_Param::setup_object_defaults(this, var_info);

use_time_sync = false;
rate_hz = 250 / target_speedup;
heli_demix = strstr(frame_str, "helidemix") != nullptr;
rev4_servos = strstr(frame_str, "rev4") != nullptr;
if(strstr(frame_str, "helidemix") != nullptr) {
_options.set(_options | uint32_t(Option::HeliDemix));
}
if(strstr(frame_str, "rev4") != nullptr) {
_options.set(_options | uint32_t(Option::Rev4Servos));
}

const char *colon = strchr(frame_str, ':');
if (colon) {
controller_ip = colon+1;
Expand Down Expand Up @@ -284,6 +305,15 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
</soap:Body>
</soap:Envelope>)");
soap_request_end(1000);
if(option_is_set(Option::ResetPosition)) {
soap_request_start("ResetAircraft", R"(<?xml version='1.0' encoding='UTF-8'?>
<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
<soap:Body>
<ResetAircraft><a>1</a><b>2</b></ResetAircraft>
</soap:Body>
</soap:Envelope>)");
soap_request_end(1000);
}
soap_request_start("InjectUAVControllerInterface", R"(<?xml version='1.0' encoding='UTF-8'?>
<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
<soap:Body>
Expand All @@ -301,15 +331,15 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
scaled_servos[i] = (input.servos[i] - 1000) / 1000.0f;
}

if (rev4_servos) {
if (option_is_set(Option::Rev4Servos)) {
// swap first 4 and last 4 servos, for quadplane testing
float saved[4];
memcpy(saved, &scaled_servos[0], sizeof(saved));
memcpy(&scaled_servos[0], &scaled_servos[4], sizeof(saved));
memcpy(&scaled_servos[4], saved, sizeof(saved));
}

if (heli_demix) {
if (option_is_set(Option::HeliDemix)) {
// FlightAxis expects "roll/pitch/collective/yaw" input
float swash1 = scaled_servos[0];
float swash2 = scaled_servos[1];
Expand Down Expand Up @@ -574,8 +604,10 @@ void FlightAxis::report_FPS(void)
uint64_t frames = socket_frame_counter - last_socket_frame_counter;
last_socket_frame_counter = socket_frame_counter;
double dt = state.m_currentPhysicsTime_SEC - last_frame_count_s;
printf("%.2f/%.2f FPS avg=%.2f glitches=%u\n",
frames / dt, 1000 / dt, 1.0/average_frame_time_s, unsigned(glitch_count));
if(!option_is_set(Option::SilenceFPS)) {
printf("%.2f/%.2f FPS avg=%.2f glitches=%u\n",
frames / dt, 1000 / dt, 1.0/average_frame_time_s, unsigned(glitch_count));
}
} else {
printf("Initial position %f %f %f\n", position.x, position.y, position.z);
}
Expand Down Expand Up @@ -615,4 +647,4 @@ void FlightAxis::socket_creator(void)
}
}

#endif // HAL_SIM_FLIGHTAXIS_ENABLED
#endif // AP_SIM_FLIGHTAXIS_ENABLED
27 changes: 19 additions & 8 deletions libraries/SITL/SIM_FlightAxis.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,9 @@
#pragma once

#include <AP_HAL/AP_HAL_Boards.h>
#include "SIM_config.h"

#ifndef HAL_SIM_FLIGHTAXIS_ENABLED
#define HAL_SIM_FLIGHTAXIS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif

#if HAL_SIM_FLIGHTAXIS_ENABLED
#if AP_SIM_FLIGHTAXIS_ENABLED

#include <AP_HAL/utility/Socket_native.h>

Expand All @@ -39,6 +36,8 @@ class FlightAxis : public Aircraft {
public:
FlightAxis(const char *frame_str);

static const struct AP_Param::GroupInfo var_info[];

/* update model by one time step */
void update(const struct sitl_input &input) override;

Expand Down Expand Up @@ -175,12 +174,24 @@ class FlightAxis : public Aircraft {

struct sitl_input last_input;

AP_Int32 _options;

enum class Option : uint32_t{
ResetPosition = (1U<<0),
Rev4Servos = (1U<<1),
HeliDemix = (1U<<2),
SilenceFPS = (1U<<3),
};

// return true if an option is set
bool option_is_set(Option option) const {
return (uint32_t(option) & uint32_t(_options)) != 0;
}

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;
uint32_t glitch_count;
uint64_t frame_counter;
Expand All @@ -204,4 +215,4 @@ class FlightAxis : public Aircraft {

} // namespace SITL

#endif // HAL_SIM_FLIGHTAXIS_ENABLED
#endif // AP_SIM_FLIGHTAXIS_ENABLED
4 changes: 4 additions & 0 deletions libraries/SITL/SIM_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,10 @@
#define AP_SIM_SLUNGPAYLOAD_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif

#ifndef AP_SIM_FLIGHTAXIS_ENABLED
#define AP_SIM_FLIGHTAXIS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif

#ifndef AP_SIM_TSYS03_ENABLED
#define AP_SIM_TSYS03_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
Expand Down
7 changes: 7 additions & 0 deletions libraries/SITL/SITL.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@

#include "SIM_StratoBlimp.h"
#include "SIM_Glider.h"
#include "SIM_FlightAxis.h"

extern const AP_HAL::HAL& hal;

Expand Down Expand Up @@ -1487,6 +1488,12 @@ const AP_Param::GroupInfo SIM::ModelParm::var_info[] = {
AP_SUBGROUPINFO(slung_payload_sim, "SLUP_", 4, SIM::ModelParm, SlungPayloadSim),
#endif

#if AP_SIM_FLIGHTAXIS_ENABLED
// @Group: RFL_
// @Path: ./SIM_FlightAxis.cpp
AP_SUBGROUPPTR(flightaxis_ptr, "RFL_", 5, SIM::ModelParm, FlightAxis),
#endif

AP_GROUPEND
};

Expand Down
4 changes: 4 additions & 0 deletions libraries/SITL/SITL.h
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Expand Up @@ -51,6 +51,7 @@ struct float_array {

class StratoBlimp;
class Glider;
class FlightAxis;

struct sitl_fdm {
// this is the structure passed between FDM models and the main SITL code
Expand Down Expand Up @@ -326,6 +327,9 @@ class SIM {
#endif
#if AP_SIM_SLUNGPAYLOAD_ENABLED
SlungPayloadSim slung_payload_sim;
#endif
#if AP_SIM_FLIGHTAXIS_ENABLED
FlightAxis *flightaxis_ptr;
#endif
};
ModelParm models;
Expand Down
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