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SITL: heli-sim: prevent ground rotation and reduced affect of ground impact

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This commit is contained in:
Andrew Tridgell 2016-01-06 21:59:56 +11:00
parent e80fb8b3fa
commit 2777ff63ba
1 changed files with 5 additions and 2 deletions
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7
libraries/SITL/SIM_Helicopter.cpp
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@ -54,7 +54,7 @@ Helicopter::Helicopter(const char *home_str, const char *frame_str) :
*/ */
void Helicopter::update(const struct sitl_input &input) void Helicopter::update(const struct sitl_input &input)
{ {
float rsc = (input.servos[7]-1000) / 1000.0f; float rsc = constrain_float((input.servos[7]-1000) / 1000.0f, 0, 1);
// ignition only for gas helis // ignition only for gas helis
bool ignition_enabled = gas_heli?(input.servos[5] > 1500):true; bool ignition_enabled = gas_heli?(input.servos[5] > 1500):true;
@ -153,16 +153,19 @@ void Helicopter::update(const struct sitl_input &input)
accel_body = Vector3f(lateral_x_thrust, lateral_y_thrust, -thrust / mass); accel_body = Vector3f(lateral_x_thrust, lateral_y_thrust, -thrust / mass);
accel_body += dcm * air_resistance; accel_body += dcm * air_resistance;
bool was_on_ground = on_ground(position);
update_dynamics(rot_accel); update_dynamics(rot_accel);
// constrain height to the ground // constrain height to the ground
if (on_ground(position)) { if (on_ground(position) && !was_on_ground) {
// zero roll/pitch, but keep yaw // zero roll/pitch, but keep yaw
float r, p, y; float r, p, y;
dcm.to_euler(&r, &p, &y); dcm.to_euler(&r, &p, &y);
dcm.from_euler(0, 0, y); dcm.from_euler(0, 0, y);
position.z = -(ground_level + frame_height - home.alt*0.01f); position.z = -(ground_level + frame_height - home.alt*0.01f);
velocity_ef.zero();
} }
// update lat/lon/altitude // update lat/lon/altitude