mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.2 KiB
Plaintext
41 lines
1.2 KiB
Plaintext
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round10 = func(v) {
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if (v == nil) return 0;
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return 0.1*int(v*10);
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}
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round100 = func(v) {
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if (v == nil) return 0;
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return 0.01*int(v*100);
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}
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var update_quad = func( ) {
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asl_ft = getprop("/position/altitude-ft");
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ground = getprop("/position/ground-elev-ft");
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agl_m = (asl_ft - ground) * 0.3048;
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setprop("/apm/altitude", round10(agl_m));
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setprop("/apm/pitch", round10(getprop("/orientation/pitch-deg")));
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setprop("/apm/roll", round10(getprop("/orientation/roll-deg")));
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setprop("/apm/heading", round10(getprop("/orientation/heading-deg")));
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# airspeed-kt is actually in feet per second (FDM NET bug)
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setprop("/apm/airspeed", round10(0.3048*getprop("/velocities/airspeed-kt")));
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setprop("/apm/motor_right", round10(getprop("/engines/engine[0]/rpm")/10.0));
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setprop("/apm/motor_left", round10(getprop("/engines/engine[1]/rpm")/10.0));
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setprop("/apm/motor_front", round10(getprop("/engines/engine[2]/rpm")/10.0));
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setprop("/apm/motor_back", round10(getprop("/engines/engine[3]/rpm")/10.0));
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}
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var main_loop = func {
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update_quad();
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settimer(main_loop, 0);
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}
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setlistener("/sim/signals/fdm-initialized",
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func {
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main_loop();
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});
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