ArduCopter: simulink support for ArduCopter

Glue code to enable Simulink-generated controller with ArduCopter

Author: amathamk

ArduCopter/Copter.cpp

@@ -118,6 +118,10 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AC_CUSTOMCONTROL_MULTI_ENABLED
     FAST_TASK(run_custom_controller),
 #endif
+#ifdef SIMULINK_APP_ENABLED
+    //Simulink controller hook
+    FAST_TASK(run_simulink_step),
+#endif
 #if FRAME_CONFIG == HELI_FRAME
     FAST_TASK(heli_update_autorotation),
 #endif //HELI_FRAME

ArduCopter/Copter.h

@@ -156,6 +156,12 @@
 #include <AC_CustomControl/AC_CustomControl.h>                  // Custom control library
 #endif
 
+#ifdef SIMULINK_APP_ENABLED
+#include <AC_Simulink/AC_Simulink_ControllerInterfaces.h> // Simulink controller interface 
+#include <AC_Simulink/AC_Simulink_Base.h>
+#include <AC_Simulink/AC_Simulink_Factory.h>
+#endif
+
 #if AP_AVOIDANCE_ENABLED && !AP_FENCE_ENABLED
   #error AC_Avoidance relies on AP_FENCE_ENABLED which is disabled
 #endif
@@ -487,6 +493,13 @@ class Copter : public AP_Vehicle {
     AC_CustomControl custom_control{ahrs_view, attitude_control, motors, scheduler.get_loop_period_s()};
 #endif
 
+#ifdef SIMULINK_APP_ENABLED
+#if FRAME_CONFIG == MULTICOPTER_FRAME
+    AC_Simulink_ControllerInterfaces ac_sl_interfaces{ahrs_view, attitude_control, pos_control, motors};
+#endif
+    AC_Simulink_Base *ac_simulink = AC_Simulink_Factory::createSimulinkInstance();
+#endif
+
 #if MODE_CIRCLE_ENABLED
     AC_Circle *circle_nav;
 #endif
@@ -761,6 +774,10 @@ class Copter : public AP_Vehicle {
     void run_custom_controller() { custom_control.update(); }
 #endif
 
+#ifdef SIMULINK_APP_ENABLED
+    void run_simulink_step() { ac_simulink->update(); }
+#endif
+
     // avoidance.cpp
     void low_alt_avoidance();
 

ArduCopter/system.cpp

@@ -181,6 +181,10 @@ void Copter::init_ardupilot()
     custom_control.init();
 #endif
 
+#ifdef SIMULINK_APP_ENABLED
+    ac_simulink->init();
+#endif
+
     // set landed flags
     set_land_complete(true);
     set_land_complete_maybe(true);