Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-29 20:18:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: Fail motors with SIM_ENGINE_FAIL

Browse Source
This commit is contained in:
Guilherme Sousa 2017-03-20 21:41:09 +01:00 committed by Andrew Tridgell
parent 204fcba8c1
commit 584890a864
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -375,8 +375,12 @@ void SITL_State::_simulator_servos(SITL::Aircraft::sitl_input &input)
} }
float engine_mul = _sitl?_sitl->engine_mul.get():1; float engine_mul = _sitl?_sitl->engine_mul.get():1;
uint8_t engine_fail = _sitl?_sitl->engine_fail.get():0;
bool motors_on = false; bool motors_on = false;
if (engine_fail > 7) {
engine_fail = 0;
}
if (_vehicle == ArduPlane) { if (_vehicle == ArduPlane) {
// add in engine multiplier // add in engine multiplier
if (input.servos[2] > 1000) { if (input.servos[2] > 1000) {
@ -394,8 +398,8 @@ void SITL_State::_simulator_servos(SITL::Aircraft::sitl_input &input)
motors_on = ((input.servos[2]-1500)/500.0f) != 0; motors_on = ((input.servos[2]-1500)/500.0f) != 0;
} else { } else {
motors_on = false; motors_on = false;
// apply engine multiplier to first motor // apply engine multiplier to motor defined by the SIM_ENGINE_FAIL parameter
input.servos[0] = ((input.servos[0]-1000) * engine_mul) + 1000; input.servos[engine_fail] = ((input.servos[engine_fail]-1000) * engine_mul) + 1000;
// run checks on each motor // run checks on each motor
for (i=0; i<4; i++) { for (i=0; i<4; i++) {
// check motors do not exceed their limits // check motors do not exceed their limits