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SITL: added elevrev option for plane sim

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used by autotest
This commit is contained in:
Andrew Tridgell 2016-07-22 16:42:23 +10:00
parent d7faeada87
commit 69da7e9f86
2 changed files with 8 additions and 0 deletions
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7
libraries/SITL/SIM_Plane.cpp
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@ -47,6 +47,9 @@ Plane::Plane(const char *home_str, const char *frame_str) :
} else if (strstr(frame_str, "-vtail")) { } else if (strstr(frame_str, "-vtail")) {
vtail = true; vtail = true;
} }
if (strstr(frame_str, "-elevrev")) {
reverse_elevator_rudder = true;
}
ground_behavior = GROUND_BEHAVIOR_FWD_ONLY; ground_behavior = GROUND_BEHAVIOR_FWD_ONLY;
} }
@ -205,6 +208,10 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
float elevator = (input.servos[1]-1500)/500.0f; float elevator = (input.servos[1]-1500)/500.0f;
float rudder = (input.servos[3]-1500)/500.0f; float rudder = (input.servos[3]-1500)/500.0f;
float throttle; float throttle;
if (reverse_elevator_rudder) {
elevator = -elevator;
rudder = -rudder;
}
if (elevons) { if (elevons) {
// fake an elevon plane // fake an elevon plane
float ch1 = aileron; float ch1 = aileron;

1
libraries/SITL/SIM_Plane.h
View File

@ -94,6 +94,7 @@ protected:
bool reverse_thrust; bool reverse_thrust;
bool elevons; bool elevons;
bool vtail; bool vtail;
bool reverse_elevator_rudder;
float liftCoeff(float alpha) const; float liftCoeff(float alpha) const;
float dragCoeff(float alpha) const; float dragCoeff(float alpha) const;