mirror of https://github.com/ArduPilot/ardupilot
7a4483b091
this makes use of DRefs to greatly improve XPlane support. It only supports XPlane 11 and later The key change is the use of a JSON file to map ArduPilot output channels to DataRefs, and map raw joystick inputs to RC inputs this gets rid of the awful throttle hack handling, and allows for control of a much wider range of aircraft |
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| .. | ||
| EvaluateMotorModel.cpp | ||
| Motor_example_plots.png | ||
| README.md | ||
| wscript | ||
README.md
Testing SITL motor model
This example allows the built in motor/prop model to be evaluated. The motor is defined by the parameters in a json configuration file, such as this one.
The example only works with the linux target. Configure and build with:
./waf configure --board linux
./waf build --targets examples/EvaluateMotorModel
The example can then be run, the first argument is the path to the json model definition. The second and third argument specify the inflow velocity (m/s) and voltage respectively.
The command:
./build/linux/examples/EvaluateMotorModel Tools/autotest/models/Callisto.json 0 50
Gives the output:
Loading model Tools/autotest/models/Callisto.json
Loaded model params from Tools/autotest/models/Callisto.json
Motors at 50.00v with 0.00 m/s inflow
time, PWM, thrust, torque, current
0.00, 1000, 0.00, 0.00, 0.00
0.05, 1001, 0.00, 0.00, 0.00
0.10, 1002, 0.00, 0.00, 0.00
0.15, 1003, 0.00, 0.00, 0.00
0.20, 1004, 0.00, 0.00, 0.00
0.25, 1005, 0.00, 0.00, 0.00
0.30, 1006, 0.00, 0.00, 0.00
0.35, 1007, 0.00, 0.00, 0.00
0.40, 1008, 0.00, 0.00, 0.00
0.45, 1009, 0.00, 0.00, 0.00
0.50, 1010, 0.00, 0.00, 0.00
0.55, 1011, 0.00, 0.00, 0.00
0.60, 1012, 0.00, 0.00, 0.00
...
This can be output re-directed to a file with:
./build/linux/examples/EvaluateMotorModel Tools/autotest/models/Callisto.json 0 50 >> motor_test.csv
The data can then be compared to real thrust data and the model definition changed to better represent the vehicle being modelled.
