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SITL: adjust FlightAxis defaults 

and map 0,0 to CMAC location, to improve how SITL works in
MissionPlanner
This commit is contained in:
Andrew Tridgell 2017-11-19 18:24:08 +11:00
parent f7a735b990
commit 964d64a623
2 changed files with 46 additions and 3 deletions
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8
libraries/SITL/SIM_Aircraft.cpp
View File

@ -119,6 +119,14 @@ bool Aircraft::parse_home(const char *home_str, Location &loc, float &yaw_degree
loc.lng = static_cast<int32_t>(strtof(lon_s, nullptr) * 1.0e7f);
loc.alt = static_cast<int32_t>(strtof(alt_s, nullptr) * 1.0e2f);
if (loc.lat == 0 && loc.lng == 0) {
// default to CMAC instead of middle of the ocean. This makes
// SITL in MissionPlanner a bit more useful
loc.lat = -35.363261*1e7;
loc.lng = 149.165230*1e7;
loc.alt = 584*100;
}
yaw_degrees = strtof(yaw_s, nullptr);
free(s);

41
libraries/SITL/SIM_FlightAxis.cpp
View File

@ -37,6 +37,41 @@ using namespace SITL;
// the asprintf() calls are not worth checking for SITL
#pragma GCC diagnostic ignored "-Wunused-result"
static const struct {
const char *name;
float value;
} sim_defaults[] = {
{ "AHRS_EKF_TYPE", 10 },
{ "INS_GYR_CAL", 0 },
{ "SERVO1_MIN", 1000 },
{ "SERVO1_MAX", 2000 },
{ "SERVO2_MIN", 1000 },
{ "SERVO2_MAX", 2000 },
{ "SERVO3_MIN", 1000 },
{ "SERVO3_MAX", 2000 },
{ "SERVO4_MIN", 1000 },
{ "SERVO4_MAX", 2000 },
{ "SERVO5_MIN", 1000 },
{ "SERVO5_MAX", 2000 },
{ "SERVO6_MIN", 1000 },
{ "SERVO6_MAX", 2000 },
{ "SERVO6_MIN", 1000 },
{ "SERVO6_MAX", 2000 },
{ "INS_ACC2OFFS_X", 0.001 },
{ "INS_ACC2OFFS_Y", 0.001 },
{ "INS_ACC2OFFS_Z", 0.001 },
{ "INS_ACC2SCAL_X", 1.001 },
{ "INS_ACC2SCAL_Y", 1.001 },
{ "INS_ACC2SCAL_Z", 1.001 },
{ "INS_ACCOFFS_X", 0.001 },
{ "INS_ACCOFFS_Y", 0.001 },
{ "INS_ACCOFFS_Z", 0.001 },
{ "INS_ACCSCAL_X", 1.001 },
{ "INS_ACCSCAL_Y", 1.001 },
{ "INS_ACCSCAL_Z", 1.001 },
};
FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
{
@ -48,9 +83,9 @@ FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
if (colon) {
controller_ip = colon+1;
}
// FlightAxis sensor data is not good enough for EKF. Use fake EKF by default
AP_Param::set_default_by_name("AHRS_EKF_TYPE", 10);
AP_Param::set_default_by_name("INS_GYR_CAL", 0);
for (uint8_t i=0; i<ARRAY_SIZE(sim_defaults); i++) {
AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
}
if (strstr(frame_str, "pitch270")) {
// rotate tailsitter airframes for fixed wing view