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pysim: implement partial 3D acceleration support

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The simulator flies very badly when using the full acceleration
code. I don't yet know if this is a bug in the simulation or a problem
with AHRS not handling acceleration for multicopters.

For now set the acceleration to be half a 'pure gravity' acceleration
and half from the full 3D calculation.
This commit is contained in:
Andrew Tridgell 2012-03-23 16:44:11 +11:00
parent 477b31fb0d
commit 0b94b2e470
1 changed files with 6 additions and 2 deletions
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8
Tools/autotest/pysim/aircraft.py
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@ -49,5 +49,9 @@ class Aircraft(object):
velocity_body = self.dcm.transposed() * self.velocity
# work out what the accelerometer would see
self.accelerometer = self.accel_body
# force the acceleration to mostly be from gravity. We should be using 100% accel_body,
# but right now that flies very badly as the AHRS system can't do centripetal correction
# for multicopters. This is a compromise until we get that sorted out
accel_true = self.accel_body
accel_fake = self.dcm.transposed() * Vector3(0, 0, -self.gravity)
self.accelerometer = (accel_true * 0.5) + (accel_fake * 0.5)