From e1d9438f793a849626ec9c5c0186dc0585df1319 Mon Sep 17 00:00:00 2001
From: romain <romain.chiap@gmail.com>
Date: Mon, 18 Mar 2019 10:39:56 -0400
Subject: [PATCH] sih: remove SYS_SIH parameter and extend SYS_HITL
---
.../init.d/airframes/1100_rc_quad_x_sih.hil | 8 +--
ROMFS/px4fmu_common/init.d/rc.interface | 2 +-
ROMFS/px4fmu_common/init.d/rcS | 7 ++-
src/lib/systemlib/system_params.c | 24 +++------
src/modules/sih/sih.cpp | 2 +-
src/modules/sih/sih.hpp | 12 ++---
src/modules/sih/sih_params.c | 50 +++++++++----------
7 files changed, 45 insertions(+), 60 deletions(-)
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
index 03c3f2d5a7..1d2d295954 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@@ -13,9 +13,5 @@ sh /etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
-# set HIL to avoid sensors startup
-param set SYS_HITL 1
-
-param set SYS_SIH 1
-
-param set BAT_N_CELLS 4
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 3e7896c4c0..67f42f275e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -202,7 +202,7 @@ then
if fmu mode_${AUX_MODE} $FMU_ARGS
then
# Append aux mixer to main device.
- if param compare SYS_HITL 1
+ if param greater SYS_HITL 0
then
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ef938cef91..53899526f4 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -328,17 +328,16 @@ else
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.
#
- if param compare SYS_HITL 1
+ if param greater SYS_HITL 0
then
set OUTPUT_MODE hil
sensors start -h
commander start --hil
-
# disable GPS
param set GPS_1_CONFIG 0
- # start the SIH if needed
- if param compare SYS_SIH 1
+ # start the simulator in hardware if needed
+ if param compare SYS_HITL 2
then
sih start
fi
diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
index 8ffa55f2ff..02da38e1ec 100644
--- a/src/lib/systemlib/system_params.c
+++ b/src/lib/systemlib/system_params.c
@@ -64,31 +64,21 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
/**
- * Enable HITL mode on next boot
+ * Enable HITL/SIH mode on next boot
*
- * While enabled the system will boot in HITL mode and not enable all sensors and checks.
- * When disabled the same vehicle can be normally flown outdoors.
+ * While enabled the system will boot in Hardware-In-The-Loop (HITL)
+ * or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
+ * When disabled the same vehicle can be flown normally.
*
- * @boolean
+ * @value 0 HITL and SIH disabled
+ * @value 1 HITL enabled
+ * @value 2 SIH enabled
* @reboot_required true
*
* @group System
*/
PARAM_DEFINE_INT32(SYS_HITL, 0);
-/**
- * Enable SIH mode on next boot
- *
- * The simulation in hardware (SIH) will enable a quad simulator to run on the autopilot.
- * When disabled the same vehicle can be normally flown outdoors.
- *
- * @boolean
- * @reboot_required true
- *
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_SIH, 0);
-
/**
* Set restart type
*
diff --git a/src/modules/sih/sih.cpp b/src/modules/sih/sih.cpp
index d4255ffbdf..4ccfa24531 100644
--- a/src/modules/sih/sih.cpp
+++ b/src/modules/sih/sih.cpp
@@ -82,7 +82,7 @@ Most of the variables are declared global in the .hpp file to avoid stack overfl
)DESCR_STR");
- PRINT_MODULE_USAGE_NAME("sih", "sih");
+ PRINT_MODULE_USAGE_NAME("sih", "simulation");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Optional example flag", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 1024, "Optional example parameter", true);
diff --git a/src/modules/sih/sih.hpp b/src/modules/sih/sih.hpp
index 8fcd770735..38cf4060b2 100644
--- a/src/modules/sih/sih.hpp
+++ b/src/modules/sih/sih.hpp
@@ -217,11 +217,11 @@ private:
(ParamFloat<px4::params::SIH_L_PITCH>) _sih_l_pitch,
(ParamFloat<px4::params::SIH_KDV>) _sih_kdv,
(ParamFloat<px4::params::SIH_KDW>) _sih_kdw,
- (ParamInt<px4::params::SIH_LAT0>) _sih_lat0,
- (ParamInt<px4::params::SIH_LON0>) _sih_lon0,
- (ParamFloat<px4::params::SIH_H0>) _sih_h0,
- (ParamFloat<px4::params::SIH_MU_X>) _sih_mu_x,
- (ParamFloat<px4::params::SIH_MU_Y>) _sih_mu_y,
- (ParamFloat<px4::params::SIH_MU_Z>) _sih_mu_z
+ (ParamInt<px4::params::SIHG_LAT0>) _sih_lat0,
+ (ParamInt<px4::params::SIHG_LON0>) _sih_lon0,
+ (ParamFloat<px4::params::SIHG_H0>) _sih_h0,
+ (ParamFloat<px4::params::SIHG_MU_X>) _sih_mu_x,
+ (ParamFloat<px4::params::SIHG_MU_Y>) _sih_mu_y,
+ (ParamFloat<px4::params::SIHG_MU_Z>) _sih_mu_z
)
};
diff --git a/src/modules/sih/sih_params.c b/src/modules/sih/sih_params.c
index 91f18c1b94..b7d3b0c179 100644
--- a/src/modules/sih/sih_params.c
+++ b/src/modules/sih/sih_params.c
@@ -48,7 +48,7 @@
* @min 0.0
* @decimal 2
* @increment 0.1
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
@@ -62,7 +62,7 @@ PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
* @min 0.0
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
* @min 0.0
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
* @min 0.0
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
@@ -103,7 +103,7 @@ PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
* @unit kg*m*m
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
* @unit kg*m*m
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
@@ -129,7 +129,7 @@ PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
* @unit kg*m*m
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IYZ, 0.0f);
@@ -145,7 +145,7 @@ PARAM_DEFINE_FLOAT(SIH_IYZ, 0.0f);
* @min 0.0
* @decimal 2
* @increment 0.5
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_T_MAX, 5.0f);
@@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(SIH_T_MAX, 5.0f);
* @min 0.0
* @decimal 3
* @increment 0.05
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_Q_MAX, 0.1f);
@@ -177,7 +177,7 @@ PARAM_DEFINE_FLOAT(SIH_Q_MAX, 0.1f);
* @min 0.0
* @decimal 2
* @increment 0.05
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_L_ROLL, 0.2f);
@@ -193,7 +193,7 @@ PARAM_DEFINE_FLOAT(SIH_L_ROLL, 0.2f);
* @min 0.0
* @decimal 2
* @increment 0.05
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f);
@@ -210,7 +210,7 @@ PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f);
* @min 0.0
* @decimal 2
* @increment 0.05
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f);
@@ -227,7 +227,7 @@ PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f);
* @min 0.0
* @decimal 3
* @increment 0.005
- * @group SIH
+ * @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
@@ -243,9 +243,9 @@ PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
* @unit 1e-7 deg
* @min -850000000
* @max 850000000
- * @group SIH
+ * @group Simulation In Hardware
*/
-PARAM_DEFINE_INT32(SIH_LAT0, 454671160);
+PARAM_DEFINE_INT32(SIHG_LAT0, 454671160);
/**
* Initial geodetic longitude
@@ -259,9 +259,9 @@ PARAM_DEFINE_INT32(SIH_LAT0, 454671160);
* @unit 1e-7 deg
* @min -1800000000
* @max 1800000000
- * @group SIH
+ * @group Simulation In Hardware
*/
-PARAM_DEFINE_INT32(SIH_LON0, -737578370);
+PARAM_DEFINE_INT32(SIHG_LON0, -737578370);
/**
* Initial AMSL ground altitude
@@ -280,9 +280,9 @@ PARAM_DEFINE_INT32(SIH_LON0, -737578370);
* @max 8848.0
* @decimal 2
* @increment 0.01
- * @group SIH
+ * @group Simulation In Hardware
*/
-PARAM_DEFINE_FLOAT(SIH_H0, 32.34f);
+PARAM_DEFINE_FLOAT(SIHG_H0, 32.34f);
/**
* North magnetic field at the initial location
@@ -300,9 +300,9 @@ PARAM_DEFINE_FLOAT(SIH_H0, 32.34f);
* @max 1.0
* @decimal 2
* @increment 0.001
- * @group SIH
+ * @group Simulation In Hardware
*/
-PARAM_DEFINE_FLOAT(SIH_MU_X, 0.179f);
+PARAM_DEFINE_FLOAT(SIHG_MU_X, 0.179f);
/**
* East magnetic field at the initial location
@@ -320,9 +320,9 @@ PARAM_DEFINE_FLOAT(SIH_MU_X, 0.179f);
* @max 1.0
* @decimal 2
* @increment 0.001
- * @group SIH
+ * @group Simulation In Hardware
*/
-PARAM_DEFINE_FLOAT(SIH_MU_Y, -0.045f);
+PARAM_DEFINE_FLOAT(SIHG_MU_Y, -0.045f);
/**
* Down magnetic field at the initial location
@@ -340,6 +340,6 @@ PARAM_DEFINE_FLOAT(SIH_MU_Y, -0.045f);
* @max 1.0
* @decimal 2
* @increment 0.001
- * @group SIH
+ * @group Simulation In Hardware
*/
-PARAM_DEFINE_FLOAT(SIH_MU_Z, 0.504f);
\ No newline at end of file
+PARAM_DEFINE_FLOAT(SIHG_MU_Z, 0.504f);
\ No newline at end of file
--
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