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SITL: Fix hand launch behaviour 

Launch acceleration should be multiplied by vehicle mass when calculating launch force.
10 m/s (1g) is much too low for a hand launch. 25 m/s (2.5g) over a shorter period is more realistic and will trigger the recommended value of TKOFF_THR_MINACC of 15 recommended for hand launches.
This commit is contained in:
Paul Riseborough 2020-06-07 10:36:31 +10:00 committed by Peter Barker
parent c1de346150
commit 71ae9426c5
1 changed files with 4 additions and 4 deletions
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8
libraries/SITL/SIM_Plane.cpp
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@ -71,8 +71,8 @@ Plane::Plane(const char *frame_str) :
}
if (strstr(frame_str, "-throw")) {
have_launcher = true;
launch_accel = 10;
launch_time = 1;
launch_accel = 25;
launch_time = 0.4;
}
if (strstr(frame_str, "-tailsitter")) {
tailsitter = true;
@ -338,8 +338,8 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
launch_start_ms = now;
}
if (now - launch_start_ms < launch_time*1000) {
force.x += launch_accel;
force.z += launch_accel/3;
force.x += mass * launch_accel;
force.z += mass * launch_accel/3;
}
} else {
// allow reset of catapult