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SITL: add tests for ICE Planes

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Peter Barker 2022-01-30 20:52:37 +11:00 committed by Peter Barker
parent 61e65ca5f2
commit db59117b83
3 changed files with 9 additions and 3 deletions
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3
libraries/SITL/SIM_ICEngine.cpp
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@ -30,6 +30,9 @@ float ICEngine::update(const struct sitl_input &input)
bool have_choke = choke_servo>=0; bool have_choke = choke_servo>=0;
bool have_starter = starter_servo>=0; bool have_starter = starter_servo>=0;
float throttle_demand = (input.servos[throttle_servo]-1000) * 0.001f; float throttle_demand = (input.servos[throttle_servo]-1000) * 0.001f;
if (throttle_reversed) {
throttle_demand = 1 - throttle_demand;
}
state.ignition = have_ignition?input.servos[ignition_servo]>1700:true; state.ignition = have_ignition?input.servos[ignition_servo]>1700:true;
state.choke = have_choke?input.servos[choke_servo]>1700:false; state.choke = have_choke?input.servos[choke_servo]>1700:false;

6
libraries/SITL/SIM_ICEngine.h
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@ -30,12 +30,13 @@ public:
const int8_t starter_servo; const int8_t starter_servo;
const float slew_rate; // percent-per-second const float slew_rate; // percent-per-second
ICEngine(uint8_t _throttle, int8_t _choke, int8_t _ignition, int8_t _starter, float _slew_rate) : ICEngine(uint8_t _throttle, int8_t _choke, int8_t _ignition, int8_t _starter, float _slew_rate, bool _throttle_reversed) :
throttle_servo(_throttle), throttle_servo(_throttle),
choke_servo(_choke), choke_servo(_choke),
ignition_servo(_ignition), ignition_servo(_ignition),
starter_servo(_starter), starter_servo(_starter),
slew_rate(_slew_rate) slew_rate(_slew_rate),
throttle_reversed(_throttle_reversed)
{} {}
// update motor state // update motor state
@ -54,5 +55,6 @@ private:
uint8_t value; uint8_t value;
} state, last_state; } state, last_state;
bool overheat:1; bool overheat:1;
bool throttle_reversed;
}; };
} }

3
libraries/SITL/SIM_Plane.h
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@ -115,7 +115,8 @@ protected:
choke_servo, choke_servo,
ignition_servo, ignition_servo,
starter_servo, starter_servo,
slewrate slewrate,
true
}; };
float liftCoeff(float alpha) const; float liftCoeff(float alpha) const;