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SITL: support vtail and elevon planes in builtin plane sim

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remove old tiltrotor in favor of new tiltrotor code
This commit is contained in:
Andrew Tridgell 2016-04-22 10:08:00 +10:00
parent b4d24d8e03
commit 8880635fe1
5 changed files with 29 additions and 23 deletions
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10
libraries/SITL/SIM_Frame.cpp
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@ -102,15 +102,15 @@ static const Motor y6_motors[] =
};
/*
FireflyY6 is a Y6 with front motors tiltable
FireflyY6 is a Y6 with front motors tiltable using servo on channel 7
*/
static const Motor firefly_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, AP_MOTORS_MOT_7, 0, 90),
Motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, AP_MOTORS_MOT_7, 0, -90),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
};

20
libraries/SITL/SIM_Plane.cpp
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@ -39,6 +39,11 @@ Plane::Plane(const char *home_str, const char *frame_str) :
if (strstr(frame_str, "-revthrust")) {
reverse_thrust = true;
}
if (strstr(frame_str, "-elevon")) {
elevons = true;
} else if (strstr(frame_str, "-vtail")) {
vtail = true;
}
}
/*
@ -195,6 +200,21 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
float elevator = (input.servos[1]-1500)/500.0f;
float rudder = (input.servos[3]-1500)/500.0f;
float throttle;
if (elevons) {
// fake an elevon plane
float ch1 = aileron;
float ch2 = elevator;
aileron = (ch2-ch1)/2.0f;
// the minus does away with the need for RC2_REV=-1
elevator = -(ch2+ch1)/2.0f;
} else if (vtail) {
// fake a vtail plane
float ch1 = elevator;
float ch2 = rudder;
// this matches VTAIL_OUTPUT==2
elevator = (ch2-ch1)/2.0f;
rudder = (ch2+ch1)/2.0f;
}
if (reverse_thrust) {
throttle = constrain_float((input.servos[2]-1500)/500.0f, -1, 1);

2
libraries/SITL/SIM_Plane.h
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@ -92,6 +92,8 @@ protected:
float thrust_scale;
bool reverse_thrust;
bool elevons;
bool vtail;
float liftCoeff(float alpha) const;
float dragCoeff(float alpha) const;

18
libraries/SITL/SIM_QuadPlane.cpp
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@ -26,10 +26,6 @@ using namespace SITL;
QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
Plane(home_str, frame_str)
{
// see if we want a tiltrotor
if (strstr(frame_str, "-tilt")) {
tiltrotors = true;
}
// default to X frame
const char *frame_type = "x";
@ -51,6 +47,7 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
frame_type = "y6";
} else if (strstr(frame_str, "-firefly")) {
frame_type = "firefly";
elevons = true;
}
frame = Frame::find_frame(frame_type);
if (frame == nullptr) {
@ -84,19 +81,6 @@ void QuadPlane::update(const struct sitl_input &input)
frame->calculate_forces(*this, input, quad_rot_accel, quad_accel_body);
if (tiltrotors) {
// get rotor tilt from channel 9
float tilt = constrain_float(-90 * (input.servos[8]-1000)*0.001, -90, 0);
// rotate the rotational accel and body accel from multicopter
// model to take account of rotor tilt
Matrix3f rotation;
rotation.identity();
rotation.rotate(Vector3f(0, radians(tilt), 0));
quad_rot_accel = rotation * quad_rot_accel;
quad_accel_body = rotation * quad_accel_body;
}
rot_accel += quad_rot_accel;
accel_body += quad_accel_body;

2
libraries/SITL/SIM_QuadPlane.h
View File

@ -41,7 +41,7 @@ public:
}
private:
Frame *frame;
bool tiltrotors;
bool elevons;
};
} // namespace SITL