PX4Interface.h

/*******************************************************************************
* File:
* PX4Interface.h
*
* Description:
* Simulink C code S-Function PX4 Interface header file.
* Declares public PX4 Interface functions utilized by the Simulink S-Function.
* These functions provide support for configuring and communicating with a PX4.
*
* Note: 
* Current implementation communicates with PX4 via MAVLink Version 2 over UDP 
* on an IP network and requires PX4 to have IP adress "192.168.46.2".
*
* Author:
* Michael Skadan
*
********************************************************************************
* Notices:
* Copyright 2018, United States Government as represented by the Administrator
* of the National Aeronautics and Space Administration. All Rights Reserved.
*
* MAVLINK__________________________________________
* Portions of this software were generated using Mavlink
* (https://github.com/mavlink) and are subject to the following MIT License:
* Permission is hereby granted, free of charge, to any person obtaining a copy
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*
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*
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*******************************************************************************/

#ifndef PX4_INTERFACE_H
#define PX4_INTERFACE_H

#include <stdint.h>

/*******************************************************************************
* This function is called when the S-function begins execution.
* Configures resources for communcation with PX4 via UDP on IP network.
* Note: Current implementation requires PX4 to have IP adress "192.168.46.2".
*******************************************************************************/
void start();

/*******************************************************************************
* This function is called each time step of the S-functions execution.
* Provides sensor input to PX4 and obtains actuator output from PX4.
* These input and ouput values correspond directly to the following MAVLink
* messages: HIL_ACTUATOR_CONTROLS, HIL_SENSOR, HIL_GPS, and RC_CHANNELS.
* parameters:
*  delta - input time since last step calculation (microsecond)
*  imu - input contains current values from inertial measurement unit sensor
*    imu[0]: X Acceleration (m/s^2)
*    imu[1]: Y Acceleration (m/s^2)
*    imu[2]: Z Acceleration (m/s^2)
*    imu[3]: X Angular Speed (rad/s)
*    imu[4]: Y Angular Speed (rad/s)
*    imu[5]: Z Angular Speed (rad/s)
*    imu[6]: X Magnetic Field (Gauss)
*    imu[7]: Y Magnetic Field (Gauss)
*    imu[8]: Z Magnetic Field (Gauss)
*    imu[9]: Absolute Pressure (millibar)
*    imu[10]: Differential Pressure (millibar)
*    imu[11]: Altitude Pressure Calabrated (m)
*    imu[12]: Temperature (millibar)
*  gps - input contains current values from global position system sensor
*    gps[0]: Latitude (degrees * 1E7)
*    gps[1]: Longitude (degrees * 1E7)
*    gps[2]: Altitude (AMSL meters * 1000) +Up
*    gps[3]: GPS HDOP (cm)
*    gps[4]: GPS VDOP (cm)
*    gps[5]: GPS Ground Speed (cm/s)
*    gps[6]: GPS North Velocity (cm/s)
*    gps[7]: GPS East Velocity (cm/s)
*    gps[8]: GPS Down Velocity (cm/s) +Down
*    gps[9]: Course Over Ground (degrees * 100)
*    gps[10]: Fix Type (0 = None, 1 = 2D, 2 = 3D)
*    gps[11]: Satellites Visible
*  rc - input contains current values from remote control sensor
*    rc[0 - 17] are Channels 1 through 18 (microseconds)
*    rc[18]: Used Channel Count
*    rc[19]: Received Signal Strength Indicator (0 = 0% - 100 = 100%)
*  actuators - output current actuator commands received from PX4
*    actuators[0 - 15] are Channels 1 through 16 (0.0 = 0% - 1.0 = 100%)
*******************************************************************************/
void step(uint32_t delta[1], double imu[13], double gps[12], uint16_t rc[20], double actuators[16]);

#endif