mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.6 KiB
Markdown
51 lines
1.6 KiB
Markdown
|
# Testing SITL motor model
|
||
|
|
|
||
|
|
This example allows the built in motor/prop model to be evaluated. The motor is defined by the parameters in a json configuration file, such as [this one](../../../../Tools/autotest/models/Callisto.json).
|
||
|
|
|
||
|
|
The example only works with the linux target. Configure and build with:
|
||
|
|
|
||
|
|
```
|
||
|
|
./waf configure --board linux
|
||
|
|
./waf build --targets examples/EvaluateMotorModel
|
||
|
|
```
|
||
|
|
|
||
|
|
The example can then be run, the first argument is the path to the json model definition. The second and third argument specify the inflow velocity (m/s) and voltage respectively.
|
||
|
|
|
||
|
|
The command:
|
||
|
|
|
||
|
|
```
|
||
|
|
./build/linux/examples/EvaluateMotorModel Tools/autotest/models/Callisto.json 0 50
|
||
|
|
```
|
||
|
|
|
||
|
|
Gives the output:
|
||
|
|
```
|
||
|
|
Loading model Tools/autotest/models/Callisto.json
|
||
|
|
Loaded model params from Tools/autotest/models/Callisto.json
|
||
|
|
Motors at 50.00v with 0.00 m/s inflow
|
||
|
|
time, PWM, thrust, torque, current
|
||
|
|
0.00, 1000, 0.00, 0.00, 0.00
|
||
|
|
0.05, 1001, 0.00, 0.00, 0.00
|
||
|
|
0.10, 1002, 0.00, 0.00, 0.00
|
||
|
|
0.15, 1003, 0.00, 0.00, 0.00
|
||
|
|
0.20, 1004, 0.00, 0.00, 0.00
|
||
|
|
0.25, 1005, 0.00, 0.00, 0.00
|
||
|
|
0.30, 1006, 0.00, 0.00, 0.00
|
||
|
|
0.35, 1007, 0.00, 0.00, 0.00
|
||
|
|
0.40, 1008, 0.00, 0.00, 0.00
|
||
|
|
0.45, 1009, 0.00, 0.00, 0.00
|
||
|
|
0.50, 1010, 0.00, 0.00, 0.00
|
||
|
|
0.55, 1011, 0.00, 0.00, 0.00
|
||
|
|
0.60, 1012, 0.00, 0.00, 0.00
|
||
|
|
...
|
||
|
|
```
|
||
|
|
|
||
|
|
This can be output re-directed to a file with:
|
||
|
|
```
|
||
|
|
./build/linux/examples/EvaluateMotorModel Tools/autotest/models/Callisto.json 0 50 >> motor_test.csv
|
||
|
|
```
|
||
|
|
|
||
|
|
The data can then be compared to real thrust data and the model definition changed to better represent the vehicle being modelled.
|
||
|
|
|
||
|
|
|
||
|
|
|