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pysim: added --frame option

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This commit is contained in:
Andrew Tridgell 2012-01-04 19:13:47 +11:00
parent 1670f1f65b
commit ba9423f7de
1 changed files with 6 additions and 4 deletions
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10
Tools/autotest/pysim/sim_quad.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python #!/usr/bin/env python
from quadcopter import QuadCopter from multicopter import MultiCopter
import euclid, util, time, os, sys, math import euclid, util, time, os, sys, math
import socket, struct import socket, struct
import select, fgFDM, errno import select, fgFDM, errno
@ -29,6 +29,7 @@ def sim_send(m, a):
fdm.set('vcas', math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y), units='mps') fdm.set('vcas', math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y), units='mps')
fdm.set('v_north', a.velocity.x, units='mps') fdm.set('v_north', a.velocity.x, units='mps')
fdm.set('v_east', a.velocity.y, units='mps') fdm.set('v_east', a.velocity.y, units='mps')
# FG FDM protocol only supports 4 motors for display :(
fdm.set('num_engines', 4) fdm.set('num_engines', 4)
for i in range(4): for i in range(4):
fdm.set('rpm', 1000*m[i], idx=i) fdm.set('rpm', 1000*m[i], idx=i)
@ -65,7 +66,7 @@ def sim_recv(m):
if len(buf) != 22: if len(buf) != 22:
return return
pwm = list(struct.unpack('<11H', buf)) pwm = list(struct.unpack('<11H', buf))
for i in range(4): for i in range(11):
m[i] = (pwm[i]-1000)/1000.0 m[i] = (pwm[i]-1000)/1000.0
@ -85,6 +86,7 @@ parser.add_option("--simout", dest="simout", help="SIM output (IP:port)",
parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)") parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)")
parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=400) parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=400)
parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0') parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0')
parser.add_option("--frame", dest="frame", help="frame type (+,X,octo)", default='+')
(opts, args) = parser.parse_args() (opts, args) = parser.parse_args()
@ -120,10 +122,10 @@ sim_out.setblocking(0)
fdm = fgFDM.fgFDM() fdm = fgFDM.fgFDM()
# create the quadcopter model # create the quadcopter model
a = QuadCopter() a = MultiCopter(frame=opts.frame)
# motors initially off # motors initially off
m = [0, 0, 0, 0] m = [0.0] * 11
lastt = time.time() lastt = time.time()
frame_count = 0 frame_count = 0