UAS.cc

#ifndef __mobile__
void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)
{
    if (!_vehicle) {
        return;
    }
    const uint8_t base_mode = _vehicle->baseMode();

   // If system has manual inputs enabled and is armed
    if(((base_mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (base_mode & MAV_MODE_FLAG_HIL_ENABLED))
    {
        mavlink_message_t message;
        float q[4];
        mavlink_euler_to_quaternion(roll, pitch, yaw, q);

        float yawrate = 0.0f;

        // Do not control rates and throttle
        quint8 mask = (1 << 0) | (1 << 1) | (1 << 2); // ignore rates
        mask |= (1 << 6); // ignore throttle
        mavlink_msg_set_attitude_target_pack_chan(mavlink->getSystemId(),
                                                  mavlink->getComponentId(),
                                                  _vehicle->priorityLink()->mavlinkChannel(),
                                                  &message,
                                                  QGC::groundTimeMilliseconds(), this->uasId, _vehicle->defaultComponentId(),
                                                  mask, q, 0, 0, 0, 0);
        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
        quint16 position_mask = (1 << 3) | (1 << 4) | (1 << 5) |
            (1 << 6) | (1 << 7) | (1 << 8);
        mavlink_msg_set_position_target_local_ned_pack_chan(mavlink->getSystemId(), mavlink->getComponentId(),
                                                            _vehicle->priorityLink()->mavlinkChannel(),
                                                            &message, QGC::groundTimeMilliseconds(), this->uasId, _vehicle->defaultComponentId(),
                                                            MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0, yaw, yawrate);
        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
        qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGES: x" << x << " y: " << y << " z: " << z << " roll: " << roll << " pitch: " << pitch << " yaw: " << yaw;
    }
    else
    {
        qDebug() << "3DMOUSE/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send 3DMouse commands first";
    }
}
#endif

/**
* Order the robot to start receiver pairing
*/
void UAS::pairRX(int rxType, int rxSubType)
{
    if (_vehicle) {
        _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
                                 MAV_CMD_START_RX_PAIR,             // command id
                                 true,                              // showError
                                 rxType,
                                 rxSubType);
    }
}

/**
* If enabled, connect the JSBSim link.
*/
#ifndef __mobile__
void UAS::enableHilJSBSim(bool enable, QString options)
{
    auto* link = qobject_cast<QGCJSBSimLink*>(simulation);
    if (!link) {
        // Delete wrong sim
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCJSBSimLink(_vehicle, options);
    }
    // Connect Flight Gear Link
    link = qobject_cast<QGCJSBSimLink*>(simulation);
    link->setStartupArguments(options);
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}
#endif

/**
* If enabled, connect the X-plane gear link.
*/
#ifndef __mobile__
void UAS::enableHilXPlane(bool enable)
{
    auto* link = qobject_cast<QGCXPlaneLink*>(simulation);
    if (!link) {
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCXPlaneLink(_vehicle);

        float noise_scaler = 0.0001f;
        xacc_var = noise_scaler * 0.2914f;
        yacc_var = noise_scaler * 0.2914f;
        zacc_var = noise_scaler * 0.9577f;
        rollspeed_var = noise_scaler * 0.8126f;
        pitchspeed_var = noise_scaler * 0.6145f;
        yawspeed_var = noise_scaler * 0.5852f;
        xmag_var = noise_scaler * 0.0786f;
        ymag_var = noise_scaler * 0.0566f;
        zmag_var = noise_scaler * 0.0333f;
        abs_pressure_var = noise_scaler * 0.5604f;
        diff_pressure_var = noise_scaler * 0.2604f;
        pressure_alt_var = noise_scaler * 0.5604f;
        temperature_var = noise_scaler * 0.7290f;
    }
    // Connect X-Plane Link
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}
#endif

/**
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifndef __mobile__
void UAS::sendHilGroundTruth(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
                       float pitchspeed, float yawspeed, double lat, double lon, double alt,
                       float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc)
{
    Q_UNUSED(time_us);
    Q_UNUSED(xacc);
    Q_UNUSED(yacc);
    Q_UNUSED(zacc);

        // Emit attitude for cross-check
        emit valueChanged(uasId, "roll sim", "rad", roll, getUnixTime());
        emit valueChanged(uasId, "pitch sim", "rad", pitch, getUnixTime());
        emit valueChanged(uasId, "yaw sim", "rad", yaw, getUnixTime());

        emit valueChanged(uasId, "roll rate sim", "rad/s", rollspeed, getUnixTime());
        emit valueChanged(uasId, "pitch rate sim", "rad/s", pitchspeed, getUnixTime());
        emit valueChanged(uasId, "yaw rate sim", "rad/s", yawspeed, getUnixTime());

        emit valueChanged(uasId, "lat sim", "deg", lat*1e7, getUnixTime());
        emit valueChanged(uasId, "lon sim", "deg", lon*1e7, getUnixTime());
        emit valueChanged(uasId, "alt sim", "deg", alt*1e3, getUnixTime());

        emit valueChanged(uasId, "vx sim", "m/s", vx*1e2, getUnixTime());
        emit valueChanged(uasId, "vy sim", "m/s", vy*1e2, getUnixTime());
        emit valueChanged(uasId, "vz sim", "m/s", vz*1e2, getUnixTime());

        emit valueChanged(uasId, "IAS sim", "m/s", ind_airspeed, getUnixTime());
        emit valueChanged(uasId, "TAS sim", "m/s", true_airspeed, getUnixTime());
}
#endif

/**
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifndef __mobile__
void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
                       float pitchspeed, float yawspeed, double lat, double lon, double alt,
                       float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc)
{
    if (!_vehicle) {
        return;
    }

    if (_vehicle->hilMode())
    {
        float q[4];

        double cosPhi_2 = cos(double(roll) / 2.0);
        double sinPhi_2 = sin(double(roll) / 2.0);
        double cosTheta_2 = cos(double(pitch) / 2.0);
        double sinTheta_2 = sin(double(pitch) / 2.0);
        double cosPsi_2 = cos(double(yaw) / 2.0);
        double sinPsi_2 = sin(double(yaw) / 2.0);
        q[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
                sinPhi_2 * sinTheta_2 * sinPsi_2);
        q[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
                cosPhi_2 * sinTheta_2 * sinPsi_2);
        q[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
                sinPhi_2 * cosTheta_2 * sinPsi_2);
        q[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
                sinPhi_2 * sinTheta_2 * cosPsi_2);

        mavlink_message_t msg;
        mavlink_msg_hil_state_quaternion_pack_chan(mavlink->getSystemId(),
                                                   mavlink->getComponentId(),
                                                   _vehicle->priorityLink()->mavlinkChannel(),
                                                   &msg,
                                                   time_us, q, rollspeed, pitchspeed, yawspeed,
                                                   lat*1e7f, lon*1e7f, alt*1000, vx*100, vy*100, vz*100, ind_airspeed*100, true_airspeed*100, xacc*1000/9.81, yacc*1000/9.81, zacc*1000/9.81);
        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }
}
#endif

#ifndef __mobile__
float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
{
    /* Calculate normally distributed variable noise with mean = 0 and variance = noise_var.  Calculated according to
    Box-Muller transform */
    static const float epsilon = std::numeric_limits<float>::min(); //used to ensure non-zero uniform numbers
    static float z0; //calculated normal distribution random variables with mu = 0, var = 1;
    float u1, u2;        //random variables generated from c++ rand();

    /*Generate random variables in range (0 1] */
    do
    {
        //TODO seed rand() with srand(time) but srand(time should be called once on startup)
        //currently this will generate repeatable random noise
        u1 = rand() * (1.0 / RAND_MAX);
        u2 = rand() * (1.0 / RAND_MAX);
    }
    while ( u1 <= epsilon );  //Have a catch to ensure non-zero for log()

    z0 = sqrt(-2.0 * log(u1)) * cos(2.0f * M_PI * u2); //calculate normally distributed variable with mu = 0, var = 1

    //TODO add bias term that changes randomly to simulate accelerometer and gyro bias the exf should handle these
    //as well
    float noise = z0 * sqrt(noise_var); //calculate normally distributed variable with mu = 0, std = var^2

    //Finally guard against any case where the noise is not real
    if(std::isfinite(noise)) {
            return truth_meas + noise;
    } else {
        return truth_meas;
    }
}
#endif

/*
* @param abs_pressure Absolute Pressure (hPa)
* @param diff_pressure Differential Pressure  (hPa)
*/
#ifndef __mobile__
void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
                                    float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed)
{
    if (!_vehicle) {
        return;
    }

    if (_vehicle->hilMode())
    {
        float xacc_corrupt = addZeroMeanNoise(xacc, xacc_var);
        float yacc_corrupt = addZeroMeanNoise(yacc, yacc_var);
        float zacc_corrupt = addZeroMeanNoise(zacc, zacc_var);
        float rollspeed_corrupt = addZeroMeanNoise(rollspeed,rollspeed_var);
        float pitchspeed_corrupt = addZeroMeanNoise(pitchspeed,pitchspeed_var);
        float yawspeed_corrupt = addZeroMeanNoise(yawspeed,yawspeed_var);
        float xmag_corrupt = addZeroMeanNoise(xmag, xmag_var);
        float ymag_corrupt = addZeroMeanNoise(ymag, ymag_var);
        float zmag_corrupt = addZeroMeanNoise(zmag, zmag_var);
        float abs_pressure_corrupt = addZeroMeanNoise(abs_pressure,abs_pressure_var);
        float diff_pressure_corrupt = addZeroMeanNoise(diff_pressure, diff_pressure_var);
        float pressure_alt_corrupt = addZeroMeanNoise(pressure_alt, pressure_alt_var);
        float temperature_corrupt = addZeroMeanNoise(temperature,temperature_var);

        mavlink_message_t msg;
        mavlink_msg_hil_sensor_pack_chan(mavlink->getSystemId(),
                                         mavlink->getComponentId(),
                                         _vehicle->priorityLink()->mavlinkChannel(),
                                         &msg,
                                         time_us, xacc_corrupt, yacc_corrupt, zacc_corrupt, rollspeed_corrupt, pitchspeed_corrupt,
                                         yawspeed_corrupt, xmag_corrupt, ymag_corrupt, zmag_corrupt, abs_pressure_corrupt,
                                         diff_pressure_corrupt, pressure_alt_corrupt, temperature_corrupt, fields_changed);
        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
        lastSendTimeSensors = QGC::groundTimeMilliseconds();
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }
}
#endif

#ifndef __mobile__
void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                    float flow_comp_m_y, quint8 quality, float ground_distance)
{
    if (!_vehicle) {
        return;
    }

    // FIXME: This needs to be updated for new mavlink_msg_hil_optical_flow_pack api

    Q_UNUSED(time_us);
    Q_UNUSED(flow_x);
    Q_UNUSED(flow_y);
    Q_UNUSED(flow_comp_m_x);
    Q_UNUSED(flow_comp_m_y);
    Q_UNUSED(quality);
    Q_UNUSED(ground_distance);

    if (_vehicle->hilMode())
    {
#if 0
        mavlink_message_t msg;
        mavlink_msg_hil_optical_flow_pack_chan(mavlink->getSystemId(),
                                               mavlink->getComponentId(),
                                               _vehicle->priorityLink()->mavlinkChannel(),
                                               &msg,
                                               time_us, 0, 0 /* hack */, flow_x, flow_y, 0.0f /* hack */, 0.0f /* hack */, 0.0f /* hack */, 0 /* hack */, quality, ground_distance);

        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
        lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
#endif
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }

}
#endif

#ifndef __mobile__
void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
{
    if (!_vehicle) {
        return;
    }

    // Only send at 10 Hz max rate
    if (QGC::groundTimeMilliseconds() - lastSendTimeGPS < 100)
        return;

    if (_vehicle->hilMode())
    {
        float course = cog;
        // map to 0..2pi
        if (course < 0)
            course += 2.0f * static_cast<float>(M_PI);
        // scale from radians to degrees
        course = (course / M_PI) * 180.0f;

        mavlink_message_t msg;
        mavlink_msg_hil_gps_pack_chan(mavlink->getSystemId(),
                                      mavlink->getComponentId(),
                                      _vehicle->priorityLink()->mavlinkChannel(),
                                      &msg,
                                      time_us, fix_type, lat*1e7, lon*1e7, alt*1e3, eph*1e2, epv*1e2, vel*1e2, vn*1e2, ve*1e2, vd*1e2, course*1e2, satellites);
        lastSendTimeGPS = QGC::groundTimeMilliseconds();
        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }
}
#endif

/**
* Connect flight gear link.
**/
#ifndef __mobile__
void UAS::startHil()
{
    if (hilEnabled) return;
    hilEnabled = true;
    sensorHil = false;
    _vehicle->setHilMode(true);
    qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    // Connect HIL simulation link
    simulation->connectSimulation();
}
#endif

/**
* disable flight gear link.
*/
#ifndef __mobile__
void UAS::stopHil()
{
   if (simulation && simulation->isConnected()) {
       simulation->disconnectSimulation();
       _vehicle->setHilMode(false);
       qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to disable.";
   }
    hilEnabled = false;
    sensorHil = false;
}
#endif

void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
{
    if (!_vehicle) {
        return;
    }

    mavlink_message_t message;

    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
    // Copy string into buffer, ensuring not to exceed the buffer size
    for (unsigned int i = 0; i < sizeof(param_id_cstr); i++)
    {
        if ((int)i < param_id.length())
        {
            param_id_cstr[i] = param_id.toLatin1()[i];
        }
    }

    mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
                                       mavlink->getComponentId(),
                                       _vehicle->priorityLink()->mavlinkChannel(),
                                       &message,
                                       this->uasId,
                                       _vehicle->defaultComponentId(),
                                       param_id_cstr,
                                       -1,
                                       param_rc_channel_index,
                                       value0,
                                       scale,
                                       valueMin,
                                       valueMax);
    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
    //qDebug() << "Mavlink message sent";
}

void UAS::unsetRCToParameterMap()
{
    if (!_vehicle) {
        return;
    }

    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};

    for (int i = 0; i < 3; i++) {
        mavlink_message_t message;
        mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
                                           mavlink->getComponentId(),
                                           _vehicle->priorityLink()->mavlinkChannel(),
                                           &message,
                                           this->uasId,
                                           _vehicle->defaultComponentId(),
                                           param_id_cstr,
                                           -2,
                                           i,
                                           0.0f,
                                           0.0f,
                                           0.0f,
                                           0.0f);
        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
    }
}

void UAS::shutdownVehicle(void)
{
#ifndef __mobile__
    stopHil();
    if (simulation) {
        // wait for the simulator to exit
        simulation->wait();
        simulation->disconnectSimulation();
        simulation->deleteLater();
    }
#endif
    _vehicle = nullptr;
}