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SITL: remove argument to on_ground

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This was always the current position
This commit is contained in:
Peter Barker 2016-11-23 11:15:58 +11:00
parent e24f3f9419
commit f1c23dc9be
3 changed files with 8 additions and 8 deletions
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12
libraries/SITL/SIM_Aircraft.cpp
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@ -135,9 +135,9 @@ float Aircraft::ground_height_difference() const
/* /*
return true if we are on the ground return true if we are on the ground
*/ */
bool Aircraft::on_ground(const Vector3f &pos) const bool Aircraft::on_ground() const
{ {
return (-pos.z) + home.alt*0.01f <= ground_level + frame_height + ground_height_difference(); return (-position.z) + home.alt*0.01f <= ground_level + frame_height + ground_height_difference();
} }
/* /*
@ -435,7 +435,7 @@ void Aircraft::update_dynamics(const Vector3f &rot_accel)
// if we're on the ground, then our vertical acceleration is limited // if we're on the ground, then our vertical acceleration is limited
// to zero. This effectively adds the force of the ground on the aircraft // to zero. This effectively adds the force of the ground on the aircraft
if (on_ground(position) && accel_earth.z > 0) { if (on_ground() && accel_earth.z > 0) {
accel_earth.z = 0; accel_earth.z = 0;
} }
@ -446,7 +446,7 @@ void Aircraft::update_dynamics(const Vector3f &rot_accel)
// new velocity vector // new velocity vector
velocity_ef += accel_earth * delta_time; velocity_ef += accel_earth * delta_time;
const bool was_on_ground = on_ground(position); const bool was_on_ground = on_ground();
// new position vector // new position vector
position += velocity_ef * delta_time; position += velocity_ef * delta_time;
@ -463,7 +463,7 @@ void Aircraft::update_dynamics(const Vector3f &rot_accel)
airspeed_pitot = constrain_float(velocity_air_bf * Vector3f(1, 0, 0), 0, 120); airspeed_pitot = constrain_float(velocity_air_bf * Vector3f(1, 0, 0), 0, 120);
// constrain height to the ground // constrain height to the ground
if (on_ground(position)) { if (on_ground()) {
if (!was_on_ground && AP_HAL::millis() - last_ground_contact_ms > 1000) { if (!was_on_ground && AP_HAL::millis() - last_ground_contact_ms > 1000) {
printf("Hit ground at %f m/s\n", velocity_ef.z); printf("Hit ground at %f m/s\n", velocity_ef.z);
last_ground_contact_ms = AP_HAL::millis(); last_ground_contact_ms = AP_HAL::millis();
@ -522,7 +522,7 @@ void Aircraft::update_wind(const struct sitl_input &input)
const float wind_turb = input.wind.turbulence * 10.0; // scale input.wind.turbulence to match standard deviation when using iir_coef=0.98 const float wind_turb = input.wind.turbulence * 10.0; // scale input.wind.turbulence to match standard deviation when using iir_coef=0.98
const float iir_coef = 0.98; // filtering high frequencies from turbulence const float iir_coef = 0.98; // filtering high frequencies from turbulence
if (wind_turb > 0 && !on_ground(position)) { if (wind_turb > 0 && !on_ground()) {
turbulence_azimuth = turbulence_azimuth + (2 * rand()); turbulence_azimuth = turbulence_azimuth + (2 * rand());

2
libraries/SITL/SIM_Aircraft.h
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@ -171,7 +171,7 @@ protected:
const float FEET_TO_METERS = 0.3048f; const float FEET_TO_METERS = 0.3048f;
const float KNOTS_TO_METERS_PER_SECOND = 0.51444f; const float KNOTS_TO_METERS_PER_SECOND = 0.51444f;
bool on_ground(const Vector3f &pos) const; bool on_ground() const;
/* update location from position */ /* update location from position */
void update_position(void); void update_position(void);

2
libraries/SITL/SIM_Plane.cpp
View File

@ -263,7 +263,7 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
add_noise(fabsf(thrust) / thrust_scale); add_noise(fabsf(thrust) / thrust_scale);
} }
if (on_ground(position)) { if (on_ground()) {
// add some ground friction // add some ground friction
Vector3f vel_body = dcm.transposed() * velocity_ef; Vector3f vel_body = dcm.transposed() * velocity_ef;
accel_body.x -= vel_body.x * 0.3f; accel_body.x -= vel_body.x * 0.3f;