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SITL: added dspoiler support

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This commit is contained in:
Andrew Tridgell 2017-07-01 16:01:11 +10:00
parent c9e4423997
commit 907534d55f
2 changed files with 15 additions and 0 deletions
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14
libraries/SITL/SIM_Plane.cpp
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@ -47,6 +47,8 @@ Plane::Plane(const char *home_str, const char *frame_str) :
elevons = true; elevons = true;
} else if (strstr(frame_str, "-vtail")) { } else if (strstr(frame_str, "-vtail")) {
vtail = true; vtail = true;
} else if (strstr(frame_str, "-dspoilers")) {
dspoilers = true;
} }
if (strstr(frame_str, "-elevrev")) { if (strstr(frame_str, "-elevrev")) {
reverse_elevator_rudder = true; reverse_elevator_rudder = true;
@ -250,7 +252,19 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
// this matches VTAIL_OUTPUT==2 // this matches VTAIL_OUTPUT==2
elevator = (ch2-ch1)/2.0f; elevator = (ch2-ch1)/2.0f;
rudder = (ch2+ch1)/2.0f; rudder = (ch2+ch1)/2.0f;
} else if (dspoilers) {
// fake a differential spoiler plane. Use outputs 1, 2, 4 and 5
float dspoiler1_left = filtered_servo_angle(input, 0);
float dspoiler1_right = filtered_servo_angle(input, 1);
float dspoiler2_left = filtered_servo_angle(input, 3);
float dspoiler2_right = filtered_servo_angle(input, 4);
float elevon_left = (dspoiler1_left + dspoiler2_left)/2;
float elevon_right = (dspoiler1_right + dspoiler2_right)/2;
aileron = (elevon_right-elevon_left)/2;
elevator = (elevon_left+elevon_right)/2;
rudder = fabsf(dspoiler1_right - dspoiler2_right)/2 - fabsf(dspoiler1_left - dspoiler2_left)/2;
} }
//printf("Aileron: %.1f elevator: %.1f rudder: %.1f\n", aileron, elevator, rudder);
if (reverse_thrust) { if (reverse_thrust) {
throttle = filtered_servo_angle(input, 2); throttle = filtered_servo_angle(input, 2);

1
libraries/SITL/SIM_Plane.h
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@ -95,6 +95,7 @@ protected:
bool reverse_thrust; bool reverse_thrust;
bool elevons; bool elevons;
bool vtail; bool vtail;
bool dspoilers;
bool reverse_elevator_rudder; bool reverse_elevator_rudder;
bool ice_engine; bool ice_engine;
bool tailsitter; bool tailsitter;