Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: Fix buoyancy direction for earth-frame

Browse Source 
Previously the sub would just go upwards, so rolling it 180º caused it to sink
This commit is contained in:
Willian Galvani 2019-08-05 13:49:28 -03:00 committed by Jacob Walser
parent 357293fb2c
commit 078c8d0096
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/SITL/SIM_Submarine.cpp
View File

@ -70,7 +70,7 @@ void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_a
rot_accel = Vector3f(0,0,0);
// slight positive buoyancy
body_accel = Vector3f(0, 0, -calculate_buoyancy_acceleration());
body_accel = dcm.transposed() * Vector3f(0, 0, -calculate_buoyancy_acceleration());
for (int i = 0; i < n_thrusters; i++) {
Thruster t = thrusters[i];