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SITL: allow for extra actuators to be marked as motors

This commit is contained in:
Andrew Tridgell 2022-08-18 19:00:36 +10:00
parent dc3f6fe69d
commit 1138f9e624
3 changed files with 7 additions and 1 deletions
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2
libraries/SITL/SIM_Aircraft.cpp
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@ -390,7 +390,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
fdm.velocity_air_bf = velocity_air_bf;
fdm.battery_voltage = battery_voltage;
fdm.battery_current = battery_current;
fdm.motor_mask = motor_mask;
fdm.motor_mask = motor_mask | sitl->vibe_motor_mask;
memcpy(fdm.rpm, rpm, sizeof(fdm.rpm));
fdm.rcin_chan_count = rcin_chan_count;
fdm.range = rangefinder_range();

3
libraries/SITL/SITL.cpp
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@ -174,6 +174,9 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
// motor harmonics
AP_GROUPINFO("VIB_MOT_HMNC", 60, SIM, vibe_motor_harmonics, 1),
// motor mask, allowing external simulators to mark motors
AP_GROUPINFO("VIB_MOT_MASK", 5, SIM, vibe_motor_mask, 0),
// max motor vibration frequency
AP_GROUPINFO("VIB_MOT_MAX", 61, SIM, vibe_motor, 0.0f),
// minimum throttle for simulated ins noise

3
libraries/SITL/SITL.h
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@ -336,6 +336,9 @@ public:
// what harmonics to generate
AP_Int16 vibe_motor_harmonics;
// what servos are motors
AP_Int32 vibe_motor_mask;
// minimum throttle for addition of ins noise
AP_Float ins_noise_throttle_min;