autotest: added support for vtail testing in runsim

virtual vtail support

Tools/autotest/jsbsim/runsim.py

@@ -75,6 +75,14 @@ def process_sitl_input(buf):
         # the minus does away with the need for RC2_REV=-1
         elevator = -(ch2+ch1)/2.0
 
+    if opts.vtail:
+        # fake an elevon plane
+        ch1 = elevator
+        ch2 = rudder
+        # this matches VTAIL_OUTPUT==2
+        elevator = (ch2-ch1)/2.0
+        rudder   = (ch2+ch1)/2.0
+        
     if aileron != sitl_state.aileron:
         jsb_set('fcs/aileron-cmd-norm', aileron)
         sitl_state.aileron = aileron
@@ -147,6 +155,7 @@ parser.add_option("--home",    type='string', help="home lat,lng,alt,hdg (requir
 parser.add_option("--script",  type='string', help='jsbsim model script', default='jsbsim/rascal_test.xml')
 parser.add_option("--options", type='string', help='jsbsim startup options')
 parser.add_option("--elevon", action='store_true', default=False, help='assume elevon input')
+parser.add_option("--vtail", action='store_true', default=False, help='assume vtail input')
 parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0')
 
 (opts, args) = parser.parse_args()

Tools/autotest/sim_arduplane_vtail.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+killall -q JSBSim
+killall -q ArduPlane.elf
+pkill -f runsim.py
+
+set -e
+set -x
+
+autotest=$(dirname $(readlink -e $0))
+pushd $autotest/../../ArduPlane
+make clean sitl
+
+tfile=$(mktemp)
+echo r > $tfile
+#gnome-terminal -e "gdb -x $tfile --args /tmp/ArduPlane.build/ArduPlane.elf"
+gnome-terminal -e /tmp/ArduPlane.build/ArduPlane.elf
+#gnome-terminal -e "valgrind -q /tmp/ArduPlane.build/ArduPlane.elf"
+sleep 2
+rm -f $tfile
+gnome-terminal -e '../Tools/autotest/jsbsim/runsim.py --home=-35.362938,149.165085,584,270 --vtail'
+sleep 2
+popd
+
+# if you wanted to forward packets out a serial link for testing
+# andropilot, then add --out /dev/serial/by-id/usb-FTDI* to your
+# command line along with a baudrate. You might also like to add --map
+# and --console
+# for example:
+# sim_arduplane.sh --out /dev/serial/by-id/usb-FTDI* --baudrate 57600 --map --console
+
+mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 $*
+