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SITL: add plane-redundant

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Peter Barker 2025-01-10 19:17:06 +11:00 committed by Peter Barker
parent a87862dd3a
commit 9fcf2b674a
2 changed files with 10 additions and 0 deletions
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9
libraries/SITL/SIM_Plane.cpp
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@ -56,6 +56,8 @@ Plane::Plane(const char *frame_str) :
vtail = true;
} else if (strstr(frame_str, "-dspoilers")) {
dspoilers = true;
} else if (strstr(frame_str, "-redundant")) {
redundant = true;
}
if (strstr(frame_str, "-elevrev")) {
reverse_elevator_rudder = true;
@ -311,6 +313,13 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
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;
} else if (redundant) {
// channels 1/9 are left/right ailierons
// channels 2/10 are left/right elevators
// channels 4/12 are top/bottom rudders
aileron = (filtered_servo_angle(input, 0) + filtered_servo_angle(input, 8)) / 2.0;
elevator = (filtered_servo_angle(input, 1) + filtered_servo_angle(input, 9)) / 2.0;
rudder = (filtered_servo_angle(input, 3) + filtered_servo_angle(input, 11)) / 2.0;
}
//printf("Aileron: %.1f elevator: %.1f rudder: %.1f\n", aileron, elevator, rudder);

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