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SITL: sailboat allow motor sailing

This commit is contained in:
Peter Hall 2019-08-13 22:21:36 +01:00 committed by Randy Mackay
parent 20be080325
commit 4afcc9c289
1 changed files with 10 additions and 1 deletions
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11
libraries/SITL/SIM_Sailboat.cpp
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@ -32,6 +32,7 @@ namespace SITL {
#define STEERING_SERVO_CH 0 // steering controlled by servo output 1
#define MAINSAIL_SERVO_CH 3 // main sail controlled by servo output 4
#define THROTTLE_SERVO_CH 2 // throttle controlled by servo output 3
// very roughly sort of a stability factors for waves
#define WAVE_ANGLE_GAIN 1
@ -218,8 +219,16 @@ void Sailboat::update(const struct sitl_input &input)
hull_drag *= -1.0f;
}
// throttle force (for motor sailing)
// gives throttle force == hull drag at 10m/s
float throttle_force = 0.0f;
uint16_t throttle_in = input.servos[THROTTLE_SERVO_CH];
if (throttle_in > 900 && throttle_in < 2100) {
throttle_force = (throttle_in-1500) * 0.1f;
}
// accel in body frame due acceleration from sail and deceleration from hull friction
accel_body = Vector3f(force_fwd - hull_drag, 0, 0);
accel_body = Vector3f((throttle_force + force_fwd) - hull_drag, 0, 0);
accel_body /= mass;
// add in accel due to direction change