Multiple airspeed sensors in SITL with multi HIL_SENSOR instances #731
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Abstracts sensor interface for the mavlink class Add sensor msg mutex
This commit enables having multiple instances of HILdata instances in order to support multi-sensor setups for sensors that are included in the HIL_SENSOR mavlink message
This commit enables registering new sensor istances if the ids have never been seen before. This enables using non-sequential instance IDs
This commit sets the airspeed plugin into a sensor plugin. This allows the gazebo_mavlink_interface to automatically subscribes to the sensor topics
dagar
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Mar 22, 2021
This was referenced Apr 5, 2021
RyosukeMatsushima
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Jun 21, 2022
…4#731) * Add sensor interface Abstracts sensor interface for the mavlink class Add sensor msg mutex * Enable multiple instances of HIL messages This commit enables having multiple instances of HILdata instances in order to support multi-sensor setups for sensors that are included in the HIL_SENSOR mavlink message * Register new HIL sensor instance if id has never been seen This commit enables registering new sensor istances if the ids have never been seen before. This enables using non-sequential instance IDs * Convert airspeed plugin into a sensor plugin This commit sets the airspeed plugin into a sensor plugin. This allows the gazebo_mavlink_interface to automatically subscribes to the sensor topics
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Problem Description
This is a second try of #676
Previously, all sensor information that are passed in the mavlink message HIL_SENSOR were not able to simulate multiple instances of sensor data. Sensors included in the HIL_SENSOR message is airspeed sensor, imu, barometer, magnetometer.
This PR enables defining multiple HIL_SENSOR instances in SITL and as the first step support multiple airspeed sensor instances.
This can be useful for Airspeed fault detection can be tested with this PR. This has been discussed in the dev summit before: https://youtu.be/37BIBAzD6fE
Changes that were necessary to enable this change:
Added multi HIL_SENSOR support for the mavlink_interface. This is built on top of Introduce a sensor interface for mavlink HIL messages #671
Eigen::aligned_allocatorhttps://eigen.tuxfamily.org/dox/group__TopicStlContainers.htmlEIGEN_MAKE_ALIGNED_OPERATOR_NEWto address https://eigen.tuxfamily.org/dox-devel/group__TopicStructHavingEigenMembers.htmlTesting
Tested single airspeed instances in SITL Gazebo with various models that use the airspeed sensor
Additional Context
@dagar FYI