simulation.h

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/*******************************************************************************
 * \file simulation.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 *   
 * \brief This file is an onboard Hardware-in-the-loop simulation. 
 * 
 * \detail Simulates quad-copter dynamics based on simple aerodynamics/physics 
 * model and generates simulated raw IMU measurements
 *
 ******************************************************************************/


#ifndef SIMULATION_H_
#define SIMULATION_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include "qfilter.h"

#include "imu.h"
#include "servos.h"
#include "bmp085.h"
#include "position_estimation.h"
#include "state.h"

#define AIR_DENSITY 1.2                             
#define ROTORCOUNT 4                                


typedef struct
{
    float rotor_lpf;                                        
    float rotor_rpm_gain;                                   
    float rotor_rpm_offset;                                 
    
    float rotor_cd;                                         
    float rotor_cl;                                         
    float rotor_diameter;                                   
    float rotor_foil_area;                                  
    
    float rotor_pitch;                                      
    float total_mass;                                       
    float vehicle_drag;                                     
    float roll_pitch_momentum;                              
    float yaw_momentum;                                     
    
    float rotor_momentum;                                   
    float rotor_arm_length;                                 
    
    float wind_x;                                           
    float wind_y;                                           
    
    float home_coordinates[3];                              
    float sim_gravity;                                      
}simulation_config_t;

typedef struct
{
    float torques_bf[3];                                    
    float rates_bf[3];                                      
    float lin_forces_bf[3];                                 
    float vel_bf[3];                                        
    float vel[3];                                           
    ahrs_t ahrs;                                            
    local_coordinates_t local_position;                     
    
    sensor_calib_t calib_gyro;                              
    sensor_calib_t calib_accelero;                          
    sensor_calib_t calib_compass;                           
    
    float rotorspeeds[ROTORCOUNT];                          

    simulation_config_t vehicle_config;                     

    uint32_t last_update;                                   
    float dt;                                               
    
    imu_t* imu;                                             
    position_estimation_t* pos_est;                         
    barometer_t* pressure;                                  
    gps_t* gps;                                             
    const servos_t* servos;                                 
    const ahrs_t *estimated_attitude;                       
    bool* nav_plan_active;                                  
} simulation_model_t;


bool simulation_init(simulation_model_t* sim, const simulation_config_t* sim_config, ahrs_t* ahrs, imu_t* imu, position_estimation_t* pos_est, barometer_t* pressure, gps_t* gps, state_t* state, const servos_t* servos, bool* waypoint_set);


void simulation_calib_set(simulation_model_t *sim);


void simulation_update(simulation_model_t *sim);


void simulation_simulate_barometer(simulation_model_t *sim);


void simulation_simulate_gps(simulation_model_t *sim);


void simulation_fake_gps_fix(simulation_model_t* sim, uint32_t timestamp_ms);


void simulation_switch_from_reality_to_simulation(simulation_model_t *sim);


void simulation_switch_from_simulation_to_reality(simulation_model_t *sim);


#ifdef __cplusplus
}
#endif

#endif /* SIMULATION_H_ */