From e18883fddfef01a94efe3a141719abcf4cf99ef0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Mon, 28 Oct 2019 12:17:08 -0700 Subject: [PATCH] SITL: Add missing shove forces in SIM_Submarine MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick José Pereira --- libraries/SITL/SIM_Submarine.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/SITL/SIM_Submarine.cpp b/libraries/SITL/SIM_Submarine.cpp index 31f6e4bdd6..091660f132 100644 --- a/libraries/SITL/SIM_Submarine.cpp +++ b/libraries/SITL/SIM_Submarine.cpp @@ -81,6 +81,8 @@ void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_a calculate_drag_force(gyro, frame_property.angular_drag_coefficient, angular_drag_forces); // Add forces in body frame accel rot_accel -= angular_drag_forces / frame_property.weight; + + add_shove_forces(rot_accel, body_accel); } /**