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autotest: added GPS vertical speed to the sitl simulator

This commit is contained in:
Andrew Tridgell 2013-03-28 10:28:08 +11:00
parent 7db7d7db77
commit f6ddc4e4a1
4 changed files with 13 additions and 11 deletions
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7
Tools/autotest/fakepos.py
View File

@ -51,6 +51,7 @@ altitude = 600.0
heading = 0.0
speedN = 0
speedE = 0.0
speedD = 0.0
xAccel = 0.0
yAccel = 0.0
zAccel = 0.0
@ -61,7 +62,7 @@ rollDeg = 0.0
pitchDeg = 0.0
yawDeg = 0.0
airspeed = 0
magic = 0x4c56414e
magic = 0x4c56414f
deltaT = 0.005
rollDeg = 45
@ -85,9 +86,9 @@ while True:
yAccel *= scale;
zAccel *= scale;
buf = struct.pack('<16dI',
buf = struct.pack('<17dI',
latitude, longitude, altitude, heading,
speedN, speedE,
speedN, speedE, speedD,
xAccel, yAccel, zAccel,
rollRate, pitchRate, yawRate,
rollDeg, pitchDeg, yawDeg,

5
Tools/autotest/jsbsim/runsim.py
View File

@ -101,13 +101,14 @@ def process_jsb_input(buf):
if e.errno not in [ errno.ECONNREFUSED ]:
raise
simbuf = struct.pack('<16dI',
simbuf = struct.pack('<17dI',
fdm.get('latitude', units='degrees'),
fdm.get('longitude', units='degrees'),
fdm.get('altitude', units='meters'),
fdm.get('psi', units='degrees'),
fdm.get('v_north', units='mps'),
fdm.get('v_east', units='mps'),
fdm.get('v_down', units='mps'),
fdm.get('A_X_pilot', units='mpss'),
fdm.get('A_Y_pilot', units='mpss'),
fdm.get('A_Z_pilot', units='mpss'),
@ -118,7 +119,7 @@ def process_jsb_input(buf):
fdm.get('theta', units='degrees'),
fdm.get('psi', units='degrees'),
fdm.get('vcas', units='mps'),
0x4c56414e)
0x4c56414f)
try:
sim_out.send(simbuf)
except socket.error as e:

6
Tools/autotest/pysim/sim_multicopter.py
View File

@ -38,14 +38,14 @@ def sim_send(m, a):
if not e.errno in [ errno.ECONNREFUSED ]:
raise
buf = struct.pack('<16dI',
buf = struct.pack('<17dI',
a.latitude, a.longitude, a.altitude, degrees(yaw),
a.velocity.x, a.velocity.y,
a.velocity.x, a.velocity.y, a.velocity.z,
a.accelerometer.x, a.accelerometer.y, a.accelerometer.z,
degrees(earth_rates.x), degrees(earth_rates.y), degrees(earth_rates.z),
degrees(roll), degrees(pitch), degrees(yaw),
math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y),
0x4c56414e)
0x4c56414f)
try:
sim_out.send(buf)
except socket.error as e:

6
Tools/autotest/pysim/sim_rover.py
View File

@ -17,14 +17,14 @@ def sim_send(a):
earth_rates = util.BodyRatesToEarthRates(a.dcm, a.gyro)
(roll, pitch, yaw) = a.dcm.to_euler()
buf = struct.pack('<16dI',
buf = struct.pack('<17dI',
a.latitude, a.longitude, a.altitude, degrees(yaw),
a.velocity.x, a.velocity.y,
a.velocity.x, a.velocity.y, a.velocity.z,
a.accelerometer.x, a.accelerometer.y, a.accelerometer.z,
degrees(earth_rates.x), degrees(earth_rates.y), degrees(earth_rates.z),
degrees(roll), degrees(pitch), degrees(yaw),
math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y),
0x4c56414e)
0x4c56414f)
try:
sim_out.send(buf)
except socket.error as e: