Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 17:53:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: support speedup setting on the command line

Browse Source
This commit is contained in:
Andrew Tridgell 2015-05-02 21:41:33 +10:00
parent a6f41b3ca6
commit 77f007ab27
3 changed files with 17 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/SITL/SIM_Aircraft.cpp
View File

@ -38,11 +38,11 @@ Aircraft::Aircraft(const char *home_str) :
velocity_ef(), velocity_ef(),
velocity_body(), velocity_body(),
mass(0), mass(0),
update_frequency(50),
accel_body(0, 0, -GRAVITY_MSS), accel_body(0, 0, -GRAVITY_MSS),
time_now_us(0), time_now_us(0),
gyro_noise(radians(0.1f)), gyro_noise(radians(0.1f)),
accel_noise(0.3) accel_noise(0.3),
rate_hz(400)
{ {
char *saveptr=NULL; char *saveptr=NULL;
char *s = strdup(home_str); char *s = strdup(home_str);
@ -60,6 +60,8 @@ Aircraft::Aircraft(const char *home_str) :
dcm.from_euler(0, 0, atof(yaw_s)); dcm.from_euler(0, 0, atof(yaw_s));
free(s); free(s);
set_speedup(1);
} }
/* /*
@ -235,3 +237,11 @@ uint64_t Aircraft::get_wall_time_us() const
gettimeofday(&tp,NULL); gettimeofday(&tp,NULL);
return tp.tv_sec*1.0e6 + tp.tv_usec; return tp.tv_sec*1.0e6 + tp.tv_usec;
} }
/*
set simulation speedup
*/
void Aircraft::set_speedup(float speedup)
{
setup_frame_time(rate_hz, speedup);
}

6
libraries/SITL/SIM_Aircraft.h
View File

@ -40,6 +40,11 @@ public:
uint16_t servos[16]; uint16_t servos[16];
}; };
/*
set simulation speedup
*/
void set_speedup(float speedup);
/* /*
step the FDM by one time step step the FDM by one time step
*/ */
@ -60,7 +65,6 @@ protected:
Vector3f velocity_body; // m/s, body frame Vector3f velocity_body; // m/s, body frame
Vector3f position; // meters, NED from origin Vector3f position; // meters, NED from origin
float mass; // kg float mass; // kg
float update_frequency;
Vector3f accel_body; // m/s/s NED, body frame Vector3f accel_body; // m/s/s NED, body frame
uint64_t time_now_us; uint64_t time_now_us;

2
libraries/SITL/SIM_Multicopter.cpp
View File

@ -122,8 +122,6 @@ MultiCopter::MultiCopter(const char *home_str, const char *frame_str) :
thrust_scale = (mass * GRAVITY_MSS) / (frame->num_motors * hover_throttle); thrust_scale = (mass * GRAVITY_MSS) / (frame->num_motors * hover_throttle);
frame_height = 0.1; frame_height = 0.1;
setup_frame_time(400, 3);
} }
/* /*