From 49b82b767f736804701b9378496ed0b927579bdb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 18 Aug 2016 20:56:12 +1000 Subject: [PATCH] SITL: added RPM for heli sim --- libraries/SITL/SIM_Helicopter.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/SITL/SIM_Helicopter.cpp b/libraries/SITL/SIM_Helicopter.cpp index 40bb8b3f38..f3514b9446 100644 --- a/libraries/SITL/SIM_Helicopter.cpp +++ b/libraries/SITL/SIM_Helicopter.cpp @@ -152,6 +152,9 @@ void Helicopter::update(const struct sitl_input &input) // air resistance Vector3f air_resistance = -velocity_air_ef * (GRAVITY_MSS/terminal_velocity); + // simulate rotor speed + rpm1 = thrust * 1300; + // scale thrust to newtons thrust *= thrust_scale;