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SITL: use common dynamics code for QuadPlane

This commit is contained in:
Andrew Tridgell 2016-01-01 17:16:15 +11:00
parent 2f4933ec41
commit 619a4c0925
1 changed files with 1 additions and 39 deletions
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40
libraries/SITL/SIM_QuadPlane.cpp
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@ -45,8 +45,6 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
*/
void QuadPlane::update(const struct sitl_input &input)
{
float delta_time = frame_time_us * 1.0e-6f;
// first plane forces
Vector3f rot_accel;
calculate_forces(input, rot_accel, accel_body);
@ -59,44 +57,8 @@ void QuadPlane::update(const struct sitl_input &input)
rot_accel += quad_rot_accel;
accel_body += quad_accel_body;
// update rotational rates in body frame
gyro += rot_accel * delta_time;
// update attitude
dcm.rotate(gyro * delta_time);
dcm.normalize();
Vector3f accel_earth = dcm * accel_body;
accel_earth += Vector3f(0, 0, GRAVITY_MSS);
// if we're on the ground, then our vertical acceleration is limited
// to zero. This effectively adds the force of the ground on the aircraft
if (on_ground(position) && accel_earth.z > 0) {
accel_earth.z = 0;
}
// work out acceleration as seen by the accelerometers. It sees the kinematic
// acceleration (ie. real movement), plus gravity
accel_body = dcm.transposed() * (accel_earth + Vector3f(0, 0, -GRAVITY_MSS));
// new velocity vector
velocity_ef += accel_earth * delta_time;
// new position vector
Vector3f old_position = position;
position += velocity_ef * delta_time;
// assume zero wind for now
airspeed = velocity_ef.length();
// constrain height to the ground
if (on_ground(position)) {
if (!on_ground(old_position)) {
printf("Hit ground at %f m/s\n", velocity_ef.z);
position.z = -(ground_level + frame_height - home.alt*0.01f);
}
}
update_dynamics(rot_accel);
// update lat/lon/altitude
update_position();