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SITL: support up to 32 rotors in a frame

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Andrew Tridgell 2024-07-20 11:14:43 +10:00 committed by Peter Barker
parent 592031cc5f
commit bb96db5466
2 changed files with 8 additions and 5 deletions
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2
libraries/SITL/SIM_Frame.cpp
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@ -409,7 +409,7 @@ void Frame::load_frame_params(const char *model_json)
}; };
char label_name[20]; char label_name[20];
for (uint8_t i=0; i<ARRAY_SIZE(per_motor_vars); i++) { for (uint8_t i=0; i<ARRAY_SIZE(per_motor_vars); i++) {
for (uint8_t j=0; j<12; j++) { for (uint8_t j=0; j<SIM_FRAME_MAX_ACTUATORS; j++) {
snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label); snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label);
auto v = obj->get(label_name); auto v = obj->get(label_name);
if (v.is<AP_JSON::null>()) { if (v.is<AP_JSON::null>()) {

11
libraries/SITL/SIM_Frame.h
View File

@ -22,6 +22,10 @@
#include "SIM_Motor.h" #include "SIM_Motor.h"
#include <AP_JSON/AP_JSON.h> #include <AP_JSON/AP_JSON.h>
#ifndef SIM_FRAME_MAX_ACTUATORS
#define SIM_FRAME_MAX_ACTUATORS 32
#endif
namespace SITL { namespace SITL {
/* /*
@ -132,10 +136,9 @@ private:
// if zero value will be estimated from mass // if zero value will be estimated from mass
Vector3f moment_of_inertia; Vector3f moment_of_inertia;
// if zero will no be used Vector3f motor_pos[SIM_FRAME_MAX_ACTUATORS];
Vector3f motor_pos[12]; Vector3f motor_thrust_vec[SIM_FRAME_MAX_ACTUATORS];
Vector3f motor_thrust_vec[12]; float yaw_factor[SIM_FRAME_MAX_ACTUATORS] {0,};
float yaw_factor[12] = {0};
// number of motors // number of motors
float num_motors = 4; float num_motors = 4;