Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: nicer display in FG quadcopter view

This commit is contained in:
Andrew Tridgell 2011-12-12 21:01:32 +11:00
parent ae1ec05dd4
commit 9b654cd8fb
2 changed files with 50 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
Tools/autotest/aircraft/arducopter/arducopter-set.xml
View File

@ -71,20 +71,21 @@ Arducotper UAV Model
</payload> </payload>
<nasal> <nasal>
<arducopter> <arducopter>
<file>Aircraft/arducopter/quad.nas</file>
<script> <script>
setlistener("/sim/signals/fdm-initialized", func { setlistener("/sim/signals/fdm-initialized", func {
var left = screen.display.new(20, 10); var left = screen.display.new(20, 10);
left.add("/engines/engine[0]/rpm"); left.add("/apm/motor_right");
left.add("/engines/engine[1]/rpm"); left.add("/apm/motor_left");
left.add("/engines/engine[2]/rpm"); left.add("/apm/motor_front");
left.add("/engines/engine[3]/rpm"); left.add("/apm/motor_back");
var right = screen.display.new(-250, 20); var right = screen.display.new(-250, 20);
right.add("/position/altitude-agl-ft"); right.add("/apm/altitude");
right.add("/orientation/roll-deg"); right.add("/apm/roll");
right.add("/orientation/pitch-deg"); right.add("/apm/pitch");
right.add("/orientation/heading-deg"); right.add("/apm/heading");
right.add("/instrumentation/gps/indicated-ground-speed-kt"); right.add("/apm/airspeed");
}); });
</script> </script>
</arducopter> </arducopter>

40
Tools/autotest/aircraft/arducopter/quad.nas Normal file
View File

@ -0,0 +1,40 @@
round10 = func(v) {
if (v == nil) return 0;
return 0.1*int(v*10);
}
round100 = func(v) {
if (v == nil) return 0;
return 0.01*int(v*100);
}
var update_quad = func( ) {
asl_ft = getprop("/position/altitude-ft");
ground = getprop("/position/ground-elev-ft");
agl_m = (asl_ft - ground) * 0.3048;
setprop("/apm/altitude", round10(agl_m));
setprop("/apm/pitch", round10(getprop("/orientation/pitch-deg")));
setprop("/apm/roll", round10(getprop("/orientation/roll-deg")));
setprop("/apm/heading", round10(getprop("/orientation/heading-deg")));
# airspeed-kt is actually in feet per second (FDM NET bug)
setprop("/apm/airspeed", round10(0.3048*getprop("/velocities/airspeed-kt")));
setprop("/apm/motor_left", round10(getprop("/engines/engine[0]/rpm")/10.0));
setprop("/apm/motor_right", round10(getprop("/engines/engine[1]/rpm")/10.0));
setprop("/apm/motor_front", round10(getprop("/engines/engine[2]/rpm")/10.0));
setprop("/apm/motor_back", round10(getprop("/engines/engine[3]/rpm")/10.0));
}
var main_loop = func {
update_quad();
settimer(main_loop, 0);
}
setlistener("/sim/signals/fdm-initialized",
func {
main_loop();
});