add SensorAgpSim to generate Aux Global Position data

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -33,6 +33,10 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		then
 			sensor_mag_sim start
 		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
 
 	else
 		echo "ERROR [init] simulator_sih failed to start"
@@ -153,6 +157,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 	then
 		sensor_airspeed_sim start
 	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
 

ROMFS/px4fmu_common/init.d/rcS

@@ -386,6 +386,7 @@ else
 			sensor_baro_sim start
 			sensor_mag_sim start
 			sensor_gps_sim start
+			sensor_agp_sim start
 		fi
 
 	else

src/modules/simulation/sensor_agp_sim/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__simulation__sensor_agp_sim
+	MAIN sensor_agp_sim
+	COMPILE_FLAGS
+	SRCS
+		SensorAgpSim.cpp
+		SensorAgpSim.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/simulation/sensor_agp_sim/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SENSOR_AGP_SIM
+	bool "sensor_agp_sim"
+	default n
+	---help---
+		Enable support for sensor_agp_sim

src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp

@@ -0,0 +1,184 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "SensorAgpSim.hpp"
+
+#include <drivers/drv_sensor.h>
+#include <lib/drivers/device/Device.hpp>
+#include <lib/geo/geo.h>
+
+using namespace matrix;
+
+SensorAgpSim::SensorAgpSim() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+SensorAgpSim::~SensorAgpSim()
+{
+	perf_free(_loop_perf);
+}
+
+bool SensorAgpSim::init()
+{
+	ScheduleOnInterval(500_ms); // 2 Hz
+	return true;
+}
+
+float SensorAgpSim::generate_wgn()
+{
+	// generate white Gaussian noise sample with std=1
+	// from BlockRandGauss.hpp
+	static float V1, V2, S;
+	static bool phase = true;
+	float X;
+
+	if (phase) {
+		do {
+			float U1 = (float)rand() / (float)RAND_MAX;
+			float U2 = (float)rand() / (float)RAND_MAX;
+			V1 = 2.0f * U1 - 1.0f;
+			V2 = 2.0f * U2 - 1.0f;
+			S = V1 * V1 + V2 * V2;
+		} while (S >= 1.0f || fabsf(S) < 1e-8f);
+
+		X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));
+
+	} else {
+		X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
+	}
+
+	phase = !phase;
+	return X;
+}
+
+void SensorAgpSim::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+
+	// Check if parameters have changed
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		updateParams();
+	}
+
+	if (_vehicle_global_position_sub.updated()) {
+
+		vehicle_global_position_s gpos{};
+		_vehicle_global_position_sub.copy(&gpos);
+
+		double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
+		double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
+		double altitude = (double)(gpos.alt + (generate_wgn() * 0.5f));
+
+		vehicle_global_position_s sample{};
+
+		sample.timestamp_sample = gpos.timestamp_sample;
+		sample.lat = latitude;
+		sample.lon = longitude;
+		sample.alt = altitude;
+		sample.lat_lon_valid = true;
+		sample.alt_ellipsoid = altitude;
+		sample.alt_valid = true;
+		sample.eph = 0.9f;
+		sample.epv = 1.78f;
+
+		sample.timestamp = hrt_absolute_time();
+		_aux_global_position_pub.publish(sample);
+	}
+
+	perf_end(_loop_perf);
+}
+
+int SensorAgpSim::task_spawn(int argc, char *argv[])
+{
+	SensorAgpSim *instance = new SensorAgpSim();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorAgpSim::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorAgpSim::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_agp_sim", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_agp_sim_main(int argc, char *argv[])
+{
+	return SensorAgpSim::main(argc, argv);
+}

src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_global_position.h>
+
+using namespace time_literals;
+
+class SensorAgpSim : public ModuleBase<SensorAgpSim>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	SensorAgpSim();
+	~SensorAgpSim() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	// generate white Gaussian noise sample with std=1
+	static float generate_wgn();
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position_groundtruth)};
+
+	uORB::PublicationMulti<vehicle_global_position_s> _aux_global_position_pub{ORB_ID(aux_global_position)};
+
+	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used
+	)
+};

src/modules/simulation/sensor_agp_sim/parameters.c

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * Simulate Aux Global Position (AGP)
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 1
+ * @group Sensors
+ * @value 0 Disabled
+ * @value 1 Enabled
+  */
+PARAM_DEFINE_INT32(SENS_EN_AGPSIM, 0);

src/modules/simulation/simulator_sih/Kconfig

@@ -5,6 +5,7 @@ menuconfig MODULES_SIMULATION_SIMULATOR_SIH
 	select MODULES_SIMULATION_SENSOR_BARO_SIM
 	select MODULES_SIMULATION_SENSOR_GPS_SIM
 	select MODULES_SIMULATION_SENSOR_MAG_SIM
+	select MODULES_SIMULATION_SENSOR_AGP_SIM
 	---help---
 		Enable support for simulator_sih