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pysim: fixed the accelerometer calculation in the quad simulator 

this was causing severe drift in the attitude calculation
This commit is contained in:
Andrew Tridgell 2011-12-12 21:57:09 +11:00
parent 5760239670
commit 420bb9cc75
1 changed files with 10 additions and 2 deletions
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12
Tools/autotest/pysim/aircraft.py
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@ -65,6 +65,14 @@ class Aircraft(object):
self.latitude = self.home_latitude + dlat
self.longitude = self.home_longitude + dlon
from math import sin, cos, sqrt, radians
# work out what the accelerometer would see
self.accelerometer = util.RPY_to_XYZ(self.roll, self.pitch, self.yaw, 1) * -self.gravity
self.accelerometer -= self.accel
xAccel = sin(radians(self.pitch)) * cos(radians(self.roll))
yAccel = -sin(radians(self.roll)) * cos(radians(self.pitch))
zAccel = -cos(radians(self.roll)) * cos(radians(self.pitch))
scale = 9.81 / sqrt((xAccel*xAccel)+(yAccel*yAccel)+(zAccel*zAccel))
xAccel *= scale;
yAccel *= scale;
zAccel *= scale;
self.accelerometer = euclid.Vector3(xAccel, yAccel, zAccel)