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SITL: Sub: Use proper phyisics for thrusters

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Willian Galvani 2019-09-18 12:32:18 -03:00 committed by Andrew Tridgell
parent 237ad94f92
commit a1c5b7ba55
1 changed files with 2 additions and 3 deletions
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libraries/SITL/SIM_Submarine.cpp
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@ -83,9 +83,8 @@ void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_a
}
// 2.5 scalar for approximate real-life performance of T200 thruster
body_accel += t.linear * output * 2.5;
rot_accel += t.rotational * output;
body_accel += t.linear * output * frame_property.thrust / frame_property.weight;
rot_accel += t.rotational * output * frame_property.thrust * frame_property.thruster_mount_radius / frame_property.moment_of_inertia;
}
// Limit movement at the sea floor