Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-05 23:43:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: added ignition control for gas heli

Browse Source
This commit is contained in:
Andrew Tridgell 2015-07-31 10:54:16 +10:00
parent c55e4e275d
commit 85ab1c3444
2 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/SITL/SIM_Helicopter.cpp
View File

@ -48,6 +48,7 @@ Helicopter::Helicopter(const char *home_str, const char *frame_str) :
} else { } else {
frame_type = HELI_FRAME_CONVENTIONAL; frame_type = HELI_FRAME_CONVENTIONAL;
} }
gas_heli = (strstr(frame_str, "-gas") != NULL);
} }
/* /*
@ -60,6 +61,8 @@ void Helicopter::update(const struct sitl_input &input)
float rsc = (input.servos[7]-1000) / 1000.0f; float rsc = (input.servos[7]-1000) / 1000.0f;
float rsc_scale = rsc/rsc_setpoint; float rsc_scale = rsc/rsc_setpoint;
// ignition only for gas helis
bool ignition_enabled = gas_heli?(input.servos[6] > 1500):true;
float thrust = 0; float thrust = 0;
float roll_rate = 0; float roll_rate = 0;
@ -73,6 +76,10 @@ void Helicopter::update(const struct sitl_input &input)
float swash2 = (input.servos[1]-1000) / 1000.0f; float swash2 = (input.servos[1]-1000) / 1000.0f;
float swash3 = (input.servos[2]-1000) / 1000.0f; float swash3 = (input.servos[2]-1000) / 1000.0f;
if (!ignition_enabled) {
rsc = 0;
}
switch (frame_type) { switch (frame_type) {
case HELI_FRAME_CONVENTIONAL: { case HELI_FRAME_CONVENTIONAL: {
// simulate a traditional helicopter // simulate a traditional helicopter

1
libraries/SITL/SIM_Helicopter.h
View File

@ -56,6 +56,7 @@ private:
HELI_FRAME_DUAL, HELI_FRAME_DUAL,
HELI_FRAME_COMPOUND HELI_FRAME_COMPOUND
} frame_type = HELI_FRAME_CONVENTIONAL; } frame_type = HELI_FRAME_CONVENTIONAL;
bool gas_heli = false;
}; };