src/main/flight/hil.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 // Inertial Measurement Unit (IMU)
  19
  20 #include <stdbool.h>
  21 #include <stdint.h>
  22 #include <math.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef HIL
  27
  28 #include "build/build_config.h"
  29 #include "build/debug.h"
  30
  31 #include "common/axis.h"
  32 #include "common/maths.h"
  33 #include "common/filter.h"
  34
  35 #include "drivers/time.h"
  36
  37 #include "sensors/sensors.h"
  38 #include "sensors/acceleration.h"
  39 #include "sensors/boardalignment.h"
  40
  41 #include "flight/pid.h"
  42 #include "flight/imu.h"
  43 #include "flight/hil.h"
  44
  45 #include "fc/config.h"
  46 #include "fc/runtime_config.h"
  47
  48 #include "navigation/navigation.h"
  49 #include "navigation/navigation_private.h"
  50
  51
  52 bool hilActive = false;
  53 hilIncomingStateData_t hilToFC;
  54 hilOutgoingStateData_t hilToSIM;
  55
  56 void hilUpdateControlState(void)
  57 {
  58     // FIXME: There must be a cleaner way to to this
  59     // If HIL active, store PID outout into hilState and disable motor control
  60     if (FLIGHT_MODE(MANUAL_MODE) || !STATE(AIRPLANE)) {
  61         hilToSIM.pidCommand[ROLL] = rcCommand[ROLL];
  62         hilToSIM.pidCommand[PITCH] = rcCommand[PITCH];
  63         hilToSIM.pidCommand[YAW] = rcCommand[YAW];
  64     } else {
  65         hilToSIM.pidCommand[ROLL] = axisPID[ROLL];
  66         hilToSIM.pidCommand[PITCH] = axisPID[PITCH];
  67         hilToSIM.pidCommand[YAW] = axisPID[YAW];
  68     }
  69
  70     hilToSIM.pidCommand[THROTTLE] = rcCommand[THROTTLE];
  71 }
  72
  73 #endif