mirror of https://github.com/ArduPilot/ardupilot
SITL: removed vehicle specific ground handling
This commit is contained in:
parent
e7a54c83d1
commit
4faa57074a
|
@ -162,17 +162,6 @@ void Helicopter::update(const struct sitl_input &input)
|
||||||
|
|
||||||
update_dynamics(rot_accel);
|
update_dynamics(rot_accel);
|
||||||
|
|
||||||
// constrain height to the ground
|
|
||||||
if (on_ground(position) && !was_on_ground) {
|
|
||||||
// zero roll/pitch, but keep yaw
|
|
||||||
float r, p, y;
|
|
||||||
dcm.to_euler(&r, &p, &y);
|
|
||||||
dcm.from_euler(0, 0, y);
|
|
||||||
|
|
||||||
position.z = -(ground_level + frame_height - home.alt*0.01f + ground_height_difference);
|
|
||||||
velocity_ef.zero();
|
|
||||||
}
|
|
||||||
|
|
||||||
// update lat/lon/altitude
|
// update lat/lon/altitude
|
||||||
update_position();
|
update_position();
|
||||||
|
|
||||||
|
|
|
@ -62,15 +62,6 @@ void MultiCopter::update(const struct sitl_input &input)
|
||||||
|
|
||||||
update_dynamics(rot_accel);
|
update_dynamics(rot_accel);
|
||||||
|
|
||||||
if (on_ground(position)) {
|
|
||||||
// zero roll/pitch, but keep yaw
|
|
||||||
float r, p, y;
|
|
||||||
dcm.to_euler(&r, &p, &y);
|
|
||||||
dcm.from_euler(0, 0, y);
|
|
||||||
|
|
||||||
position.z = -(ground_level + frame_height - home.alt*0.01f + ground_height_difference);
|
|
||||||
}
|
|
||||||
|
|
||||||
// update lat/lon/altitude
|
// update lat/lon/altitude
|
||||||
update_position();
|
update_position();
|
||||||
|
|
||||||
|
|
|
@ -102,17 +102,6 @@ void SingleCopter::update(const struct sitl_input &input)
|
||||||
|
|
||||||
update_dynamics(rot_accel);
|
update_dynamics(rot_accel);
|
||||||
|
|
||||||
// constrain height to the ground
|
|
||||||
if (on_ground(position) && !was_on_ground) {
|
|
||||||
// zero roll/pitch, but keep yaw
|
|
||||||
float r, p, y;
|
|
||||||
dcm.to_euler(&r, &p, &y);
|
|
||||||
dcm.from_euler(0, 0, y);
|
|
||||||
|
|
||||||
position.z = -(ground_level + frame_height - home.alt*0.01f + ground_height_difference);
|
|
||||||
velocity_ef.zero();
|
|
||||||
}
|
|
||||||
|
|
||||||
// update lat/lon/altitude
|
// update lat/lon/altitude
|
||||||
update_position();
|
update_position();
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue