Added gps and mag UAVCAN support to SITL #8509

d-v · 2018-05-27T04:22:54Z

Added gps and mag over UAVCAN simulation to SITL. Tested on bare metal ubuntu 16.04 LTS.

Added another launch arg to sim_vehicle.py: --uavcan . I tested on vcan0 under ArduPilot. When UAVCAN is enabled, sim_vehicle.py uses -uavcan.parm. I created copter-uavcan.parm but haven't done so for other vehicles. copter-uavcan.parm is essentially the same as copter.parm, just some uavcan-specific params used.

sim_vehicle.py --console --uavcan vcan0 -j4 is what I used to run SITL.

Many thanks to everyone who answered my questions on Gitter and Skype, I am really grateful for the help. Looking forward to hearing everyone's feedback!

khancyr

excellent !
there will be plenties things to correct but that is good start !
The first step will be to splip you commit at least by directory.
After that I don't think that UAVCAN should be an hal subtype.
We don't want exception active too.
I will make more comments later.

About the usage. It allow SITL backend to access can bus with SLCAN right ? (i think it miss some check on waf for that, but it could be done later). As we already got support for CAN device in normal code, why update them in SITL backend ?

khancyr · 2018-05-28T09:50:00Z

@d-v To help us on reviewing, start by separate your commit by functionnality !
http://ardupilot.org/dev/docs/git-interactive-rebase.html and the script git-subsystems-split in Tools/gittools will help you doing that !

khancyr

Ok I put some comments to address in order to sort things up !
From a general point of view, uavcan implementation should replace normal sensors !

khancyr · 2018-05-28T09:52:08Z

ArduCopter/Parameters.cpp

@@ -34,29 +34,29 @@ const AP_Param::Info Copter::var_info[] = {
    // @Description: This value is incremented when changes are made to the eeprom format
    // @User: Advanced
    // @ReadOnly: True
-    GSCALAR(format_version, "SYSID_SW_MREV",   0),
+    GSCALAR(format_version, "SYSID_SW_MREV", 0),


the whitespaces change on parameter won't pass. So better revers those changes

khancyr · 2018-05-28T09:53:17Z

Tools/ardupilotwaf/boards.py

@@ -31,7 +31,7 @@ class Board:
    abstract = True

    def __init__(self):
-        self.with_uavcan = False
+        self.with_uavcan = True


this is for all board, and we don't want that. Just override it on SITL config

khancyr · 2018-05-28T09:53:35Z

Tools/ardupilotwaf/boards.py

@@ -110,7 +110,7 @@ def configure_env(self, cfg, env):

            '-fdata-sections',
            '-ffunction-sections',
-            '-fno-exceptions',
+            '-fexceptions',


we don't want to use exception. revert that

look at how it is done on linux :
if self.with_uavcan:
cfg.define('UAVCAN_EXCEPTIONS', 0)

It didn't work :(
https://gist.github.com/d-v/508d4c66f548f3301f0384dd627828bf
Even with cfg.define(UAVCAN_EXCEPTIONS, 0)

khancyr · 2018-05-28T09:53:56Z

Tools/ardupilotwaf/boards.py

+        if self.with_uavcan:
+            env.DEFINES.update(
+                CONFIG_HAL_BOARD = 'HAL_BOARD_SITL',
+                CONFIG_HAL_BOARD_SUBTYPE = 'HAL_WITH_UAVCAN',


this is wrong

khancyr · 2018-05-28T09:57:55Z

Tools/ardupilotwaf/boards.py

+        if self.with_uavcan:
+            env.INCLUDES += [
+                cfg.srcnode.find_dir('modules/uavcan/libuavcan_drivers/linux/include/').abspath(),
+                cfg.srcnode.find_dir('modules/uavcan/libuavcan/include/').abspath()


this one is already define in board config

khancyr · 2018-05-28T10:04:00Z

Tools/autotest/default_params/copter.parm

@@ -54,6 +54,7 @@ SIM_MAG_RND     0
 SIM_GPS_GLITCH_X    0
 SIM_GPS_GLITCH_Y    0
 SIM_GPS_GLITCH_Z    0
+GPS_TYPE         1.000000


this is already the case no?

khancyr · 2018-05-28T10:04:30Z

Tools/autotest/sim_vehicle.py

@@ -566,6 +566,9 @@ def start_vehicle(binary, autotest, opts, stuff, loc):
    path = None
    if "default_params_filename" in stuff:
        paths = stuff["default_params_filename"]
+        if opts.uavcan:
+            suffix = paths.find(".")
+            paths = paths[:suffix]+"-uavcan"+paths[suffix:]


paths = paths[:suffix] + "-uavcan" + paths[suffix:]

see my previos comment, it will be simplier to load only the config for uavacan instead of all params

@khancyr, I'm sorry I don't understand what you mean :(

khancyr · 2018-05-28T10:08:57Z

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -80,15 +101,26 @@ void SITL_State::_sitl_setup(const char *home_str)
    _barometer = (AP_Baro *)AP_Param::find_object("GND_");
    _ins = (AP_InertialSensor *)AP_Param::find_object("INS_");
    _compass = (Compass *)AP_Param::find_object("COMPASS_");
+#if HAL_WITH_UAVCAN
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL


not needed as you are already on SITL namespace

khancyr · 2018-05-28T10:09:47Z

Tools/ardupilotwaf/boards.py

@@ -261,12 +269,26 @@ def configure_env(self, cfg, env):
            'SITL',
        ]

+        env.GIT_SUBMODULES += [
+            'uavcan',


I think it should check for SLCAN or whatever is the name for the linux implementation of CAN bus !

khancyr · 2018-05-28T10:10:35Z

libraries/AP_Param/AP_Param.h

+    bool configured(void) const
+    {
+#if HAL_WITH_UAVCAN
+        return true;


this doesn't look good

d-v · 2018-05-28T16:12:15Z

@khancyr, thank you for all of the feedback it was really helpful especially on my first real PR. I'll incorporate these changes and update the PR.

magicrub · 2018-06-03T19:30:26Z

Please take a look at the guidelines
http://ardupilot.org/dev/docs/submitting-patches-back-to-master.html

commit comments should start with the directory name.

Also, you now have files in this PR, so something went crazy again. I'm sure a rebase would fix it

d-v · 2018-06-04T02:33:58Z

@magicrub, thanks for the feedback -- sorry that this has been such a messy PR! I'm still working on one residual issue that I'm fairly certain will allow all the tests to pass. Once that's done I'll be able to clean up and break this up into a bunch of commits that are properly styled. Sorry about the confusion!

…interpretation

…rguments to SITL launch args. sitl_gps.cpp now sends data over CAN when CAN is enabled.

…in to spinOnce in AP_UAVCAN.cpp because spin was never exiting on Ubuntu

… feeding data we know is correct

….py and script to set up vcan0 interface

davidbuzz · 2020-03-02T08:03:23Z

i liked this old PR enough to try re-working it based on current ArduPilot. My rework of the code doesn't seem to compile right now when I add "--uavcan vcan0" to sim_vehicle.py , as a result of libuavcan incompatibilities with the linux can driver etc. anyway.... i'm wondering if the original author of this PR, or anyone else, is interested enough to help me figure out where my revised branch needs work... https://github.com/davidbuzz/ardupilot/tree/uavcan-sitl-buzz-wip ?

khancyr · 2020-12-29T17:38:28Z

We got a proper implementation using AP_Periph for those now. I am closing this. Thanks anyway

khancyr reviewed May 27, 2018

View reviewed changes

d-v force-pushed the master branch 2 times, most recently from 8a1492c to 9bb1cd9 Compare May 27, 2018 18:36

khancyr suggested changes May 28, 2018

View reviewed changes

khancyr added SITL Library CAN labels May 28, 2018

d-v force-pushed the master branch 5 times, most recently from 2edad43 to d682502 Compare June 3, 2018 05:30

d-v force-pushed the master branch 4 times, most recently from 68b0171 to 8e320de Compare June 9, 2018 14:35

bugobliterator self-requested a review July 12, 2018 09:14

bugobliterator force-pushed the master branch 3 times, most recently from ba2d729 to f851a68 Compare July 13, 2018 11:01

auturgy mentioned this pull request Jul 30, 2018

UAVCAN for SITL #7913

Closed

AP_BoardConfig: Added CANManager and appropriate headers for SITL

56be159

d-v force-pushed the master branch from f851a68 to fb35a98 Compare August 3, 2018 15:21

Dimitri Vasilkov added 3 commits August 3, 2018 12:04

AP_Compass: Added proper includes, CAN backend logic and proper data …

e7a5619

…interpretation

AP_HAL: Added proper defines for when using CAN in SITL

ccd415b

AP_HAL_SITL: added gps and mag UAVCAN support to SITL. Added UAVCAN a…

cb6e888

…rguments to SITL launch args. sitl_gps.cpp now sends data over CAN when CAN is enabled.

Dimitri Vasilkov added 3 commits August 3, 2018 12:04

AP_UAVCAN: Updated registration of compass sensor node and changed sp…

b9841cc

…in to spinOnce in AP_UAVCAN.cpp because spin was never exiting on Ubuntu

SITL: Added GPS_TYPE_CAN

56bd242

AP_Arming: Updated pre-arm checks to not test calibration when we are…

acffdd4

… feeding data we know is correct

d-v force-pushed the master branch 2 times, most recently from d10a043 to 6fe953d Compare August 6, 2018 18:06

Tools: Added new board type sitlcan, --uavcan argument to sim_vehicle…

db39084

….py and script to set up vcan0 interface

d-v force-pushed the master branch from 6fe953d to db39084 Compare August 12, 2018 16:39

khancyr closed this Dec 29, 2020

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Added gps and mag UAVCAN support to SITL #8509

Added gps and mag UAVCAN support to SITL #8509

d-v commented May 27, 2018 •

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khancyr commented Dec 29, 2020

Added gps and mag UAVCAN support to SITL #8509

Added gps and mag UAVCAN support to SITL #8509

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d-v commented May 28, 2018

magicrub commented Jun 3, 2018

d-v commented Jun 4, 2018

davidbuzz commented Mar 2, 2020

khancyr commented Dec 29, 2020

d-v commented May 27, 2018 •

edited