记录无人机的外设模拟

(gdb) p hal_sitl_inst

$7 = {<AP_HAL::HAL> = {_vptr.HAL = 0x555555ad9690 <vtable for HAL_SITL+16>,

i2c_mgr = 0x555555b1d410 <i2c_mgr_instance>, spi = 0x555555b1d418 <spi_mgr_instance>,

wspi = 0x555555b006c0 <wspi_mgr_instance>, analogin = 0x555555b1c630 <sitlAnalogIn>,

storage = 0x555555b17ea0 <sitlStorage>, console = 0x555555b1c660 <sitlSerial0Driver>, gpio = 0x555555b1c610 <sitlGPIO>,

rcin = 0x555555b1c588 <sitlRCInput>, rcout = 0x555555b1c5a0 <sitlRCOutput>,

scheduler = 0x555555b1c540 <sitlScheduler>, util = 0x555555b1d420 <utilInstance>,

opticalflow = 0x555555b006b0 <emptyOpticalFlow>, flash = 0x555555b006b8 <emptyFlash>,

dsp = 0x555555b006a8 <dspDriver>, can = {0x0, 0x0}, static num_serial = 10 '\n', serial_array = {

0x555555b1c660 <sitlSerial0Driver>, 0x555555b1c7c0 <sitlSerial1Driver>, 0x555555b1c920 <sitlSerial2Driver>,

0x555555b1ca80 <sitlSerial3Driver>, 0x555555b1cbe0 <sitlSerial4Driver>, 0x555555b1cd40 <sitlSerial5Driver>,

0x555555b1cea0 <sitlSerial6Driver>, 0x555555b1d000 <sitlSerial7Driver>, 0x555555b1d160 <sitlSerial8Driver>,

0x555555b1d2c0 <sitlSerial9Driver>}, simstate = 0x555555b1c640 <xsimstate>},

_sitl_state = 0x555555b1c040 <sitlState>, storage_posix_enabled = true, storage_flash_enabled = false,

storage_fram_enabled = false, wipe_storage = false}

sitlRCOutput

(gdb) p *hal_sitl_inst.rcout

$9 = {_vptr.RCOutput = 0x555555ad9898 <vtable for HALSITL::RCOutput+16>, static DSHOT_ZERO_THROTTLE = 48 '0',

static ALL_CHANNELS = 255, static DSHOT_BIT_WIDTH_TICKS_DEFAULT = 8, static DSHOT_BIT_0_TICKS_DEFAULT = 3,

static DSHOT_BIT_1_TICKS_DEFAULT = 6, static DSHOT_BIT_WIDTH_TICKS_S = 11, static DSHOT_BIT_0_TICKS_S = 4,

static DSHOT_BIT_1_TICKS_S = 8, static NEOP_BIT_WIDTH_TICKS = 8, static NEOP_BIT_0_TICKS = 2,

static NEOP_BIT_1_TICKS = 6, static PROFI_BIT_0_TICKS = 7, static PROFI_BIT_1_TICKS = 14,

static PROFI_BIT_WIDTH_TICKS = 20, static LED_OUTPUT_PERIOD_US = 10000, _esc_pwm_min = 1000, _esc_pwm_max = 2000}

/////////////////////////

Old value = 1000

New value = 1001

SRV_Channel::set_output_pwm (this=0x555555b0a1b8 <copter+36952>, pwm=1001, force=false) at ../../libraries/SRV_Channel/SRV_Channel.cpp:251

251 have_pwm_mask |= (1U<<ch_num);

(gdb) bt

#0 SRV_Channel::set_output_pwm (this=0x555555b0a1b8 <copter+36952>, pwm=1001, force=false)

at ../../libraries/SRV_Channel/SRV_Channel.cpp:251

#1 0x0000555555728796 in SRV_Channels::set_output_pwm (function=SRV_Channel::k_motor1, value=1001)

at ../../libraries/SRV_Channel/SRV_Channel_aux.cpp:360

#2 0x0000555555819260 in AP_Motors::rc_write (this=0x555555bad4f0, chan=0 '\000', pwm=1001)

at ../../libraries/AP_Motors/AP_Motors_Class.cpp:103

#3 0x000055555581a249 in AP_MotorsMatrix::output_to_motors (this=0x555555bad4f0)

at ../../libraries/AP_Motors/AP_MotorsMatrix.cpp:181

#4 0x000055555581cc5f in AP_MotorsMulticopter::output (this=0x555555bad4f0)

at ../../libraries/AP_Motors/AP_MotorsMulticopter.cpp:287

#5 0x00005555555e68e5 in Mode::output_to_motors (this=0x555555b0e888 <copter+55080>) at ../../ArduCopter/mode.cpp:1003

#6 0x000055555560578e in Copter::motors_output (this=0x555555b01160 <copter>, full_push=true)

at ../../ArduCopter/motors.cpp:108

#7 0x00005555556057fd in Copter::motors_output_main (this=0x555555b01160 <copter>) at ../../ArduCopter/motors.cpp:125

#8 0x00005555555d2319 in Functor<void>::method_wrapper<Copter, &Copter::motors_output_main> (

////////

核心状态量（24 状态）

复制代码

struct state_elements {
    QuaternionF quat;        // 姿态四元数 (4)
    Vector3F velocity;       // NED 速度 (3)
    Vector3F position;       // NED 位置 (3)
    Vector3F gyro_bias;      // 陀螺零偏 (3)
    Vector3F accel_bias;     // 加计零偏 (3)
    Vector3F earth_magfield; // 地球磁场 NED (3)
    Vector3F body_magfield;  // 机体磁场 XYZ (3)
    Vector2F wind_vel;       // 风速 NE (2)
};

(gdb) p dal

$38 = (AP_DAL &) @0x555555b4b920: {_RFRH = {time_us = 106937208, time_flying_ms = 54505, _end = 0 '\000'}, _RFRF = {frame_types = 8 '\b',

core_slow = 0 '\000', _end = 0 '\000'}, _RFRN = {lat = -353632621, lng = 149165237

(gdb) p hal

$37 = (const AP_HAL::HAL &) @0x555555b1c920: {_vptr.HAL = 0x555555ad8690 <vtable for HAL_SITL+16>, i2c_mgr = 0x555555b1c410 <i2c_mgr_instance>,

spi = 0x555555b1c418 <spi_mgr_instance>, wspi = 0x555555aff6c0 <wspi_mgr_instance>, analogin = 0x55

(gdb) p AP_GPS::get_singleton()->state $0$ .location.alt

$55 = 68406

possibly send a new GPS packet

void GPS::update()

{

if (!init_sitl_pointer()) {

return;

}

check_backend_allocation();

if (backend == nullptr) {

return;

}

double latitude =_sitl->state.latitude;

double longitude = _sitl->state.longitude;