Add Statespace model support to SITL #29462
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Ryanf55
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Mar 8, 2025
| @@ -528,6 +541,7 @@ def options_for_frame(self, frame, vehicle, opts): | |||
| if frame.startswith(p): | |||
| ret = self.options[vehicle]["frames"][p] | |||
| break | |||
| print("ret is (%s)" % ret) | |||
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| const char *colon = strchr(frame_str, ':'); | ||
| size_t slen = strlen(frame_str); | ||
| if (colon != nullptr && slen > 5 && strcmp(&frame_str[slen-5], ".json") == 0) { | ||
| load_frame_params(colon+1); | ||
| } |
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I saw this function in Plane too; the part that finds a colon and a string ending in .json. Do you think there is a way to refactor this and reuse it?
Something like bool is_json_frame(const char *fram_str)
| if (model.coll_max - model.coll_min > 0.0f) { | ||
| hover_coll = (model.coll_hover - model.coll_min) / (model.coll_max - model.coll_min); | ||
| } | ||
| float servos_raw[16]; |
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Is there a define we could use for the max servos? I thought certain versions of AP support 32.
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| float Dlatlag_dot = (-model.Lag)*(Dlatlag)+(model.Lag)*(_roll_in); | ||
| float Dlonlag_dot = (-model.Lag)*(Dlonlag)+(model.Lag)*(_pitch_in); | ||
| float Dcollag_dot = (-model.Lag)*(Dcollag)+(model.Lag)*(_throttle_in); | ||
| float Dpedlag_dot = (-model.Lag)*(Dpedlag)+(model.Lag)*(_yaw_in); |
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Some of these locals could be const.
| rot_accel.y = (model.Mu)*(velocity_air_bf.x)+(model.Mlon)*(Dlonlag); | ||
| rot_accel.z = (model.Nr)*(gyro.z)+((model.Nped)-(model.Lag*model.Lead))*(Dpedlag)+(model.Lag*model.Lead)*(_yaw_in); | ||
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| float lateral_y_thrust = (model.Yv)*(velocity_air_bf.y)+(model.Ylat)*(Dlatlag); |
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Perhaps run astyle on the code? Some operators have space around them, others don't.
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| // ramp speed estimate towards control out | ||
| float runup_increment = dt / runup_time; | ||
| if (motor_status > 2) { |
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Is there an enum for the status?
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This PR adds a separate model to SITL to support state space models. It currently supports multirotor and helicopter models. It also uses JSON files for model parameter inputs. This allows anyone to use their own state space dynamic model without having to modify the SITL code.