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SITL: setup simulator to match firefly6 AvA servo outputs

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This commit is contained in:
Andrew Tridgell 2017-02-06 15:01:16 +11:00
parent 00711f5a98
commit 0171b64feb
3 changed files with 13 additions and 7 deletions
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10
libraries/SITL/SIM_Frame.cpp
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@ -112,12 +112,12 @@ static Motor y6_motors[] =
*/ */
static Motor firefly_motors[] = static Motor firefly_motors[] =
{ {
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 8, 0, -90), Motor(AP_MOTORS_MOT_1, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, 8, 0, -90), Motor(AP_MOTORS_MOT_2, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 6, 0, -90),
Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6, -1, 0, 0, 8, 0, -90), Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5, -1, 0, 0, 6, 0, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, 8, 0, -90), Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2, -1, 0, 0, 6, 0, -90),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3) Motor(AP_MOTORS_MOT_6, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6, -1, 0, 0, 6, 0, -90)
}; };
/* /*

3
libraries/SITL/SIM_Plane.cpp
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@ -221,6 +221,9 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
aileron = (ch2-ch1)/2.0f; aileron = (ch2-ch1)/2.0f;
// the minus does away with the need for RC2_REV=-1 // the minus does away with the need for RC2_REV=-1
elevator = -(ch2+ch1)/2.0f; elevator = -(ch2+ch1)/2.0f;
// assume no rudder
rudder = 0;
} else if (vtail) { } else if (vtail) {
// fake a vtail plane // fake a vtail plane
float ch1 = elevator; float ch1 = elevator;

5
libraries/SITL/SIM_QuadPlane.cpp
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@ -27,6 +27,7 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
{ {
// default to X frame // default to X frame
const char *frame_type = "x"; const char *frame_type = "x";
uint8_t motor_offset = 4;
if (strstr(frame_str, "-octa-quad")) { if (strstr(frame_str, "-octa-quad")) {
frame_type = "octa-quad"; frame_type = "octa-quad";
@ -54,6 +55,8 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
elevons = true; elevons = true;
// fwd motor gives zero thrust // fwd motor gives zero thrust
thrust_scale = 0; thrust_scale = 0;
// vtol motors start at 2
motor_offset = 2;
} else if (strstr(frame_str, "cl84")) { } else if (strstr(frame_str, "cl84")) {
frame_type = "tilttri"; frame_type = "tilttri";
// fwd motor gives zero thrust // fwd motor gives zero thrust
@ -74,7 +77,7 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
} }
// leave first 4 servos free for plane // leave first 4 servos free for plane
frame->motor_offset = 4; frame->motor_offset = motor_offset;
// we use zero terminal velocity to let the plane model handle the drag // we use zero terminal velocity to let the plane model handle the drag
frame->init(mass, 0.51, 0, 0); frame->init(mass, 0.51, 0, 0);