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SITL: added simple launch sim for plane

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allow for bungee, catapult and hand launches
This commit is contained in:
Andrew Tridgell 2017-08-28 17:50:21 +10:00
parent 9783c0c3ba
commit 4aa068d63d
2 changed files with 39 additions and 0 deletions
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35
libraries/SITL/SIM_Plane.cpp
View File

@ -53,6 +53,21 @@ Plane::Plane(const char *home_str, const char *frame_str) :
if (strstr(frame_str, "-elevrev")) { if (strstr(frame_str, "-elevrev")) {
reverse_elevator_rudder = true; reverse_elevator_rudder = true;
} }
if (strstr(frame_str, "-catapult")) {
have_launcher = true;
launch_accel = 15;
launch_time = 2;
}
if (strstr(frame_str, "-bungee")) {
have_launcher = true;
launch_accel = 7;
launch_time = 4;
}
if (strstr(frame_str, "-throw")) {
have_launcher = true;
launch_accel = 10;
launch_time = 1;
}
if (strstr(frame_str, "-tailsitter")) { if (strstr(frame_str, "-tailsitter")) {
tailsitter = true; tailsitter = true;
ground_behavior = GROUND_BEHAVIOR_TAILSITTER; ground_behavior = GROUND_BEHAVIOR_TAILSITTER;
@ -230,6 +245,7 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
float aileron = filtered_servo_angle(input, 0); float aileron = filtered_servo_angle(input, 0);
float elevator = filtered_servo_angle(input, 1); float elevator = filtered_servo_angle(input, 1);
float rudder = filtered_servo_angle(input, 3); float rudder = filtered_servo_angle(input, 3);
bool launch_triggered = input.servos[6] > 1700;
float throttle; float throttle;
if (reverse_elevator_rudder) { if (reverse_elevator_rudder) {
elevator = -elevator; elevator = -elevator;
@ -294,6 +310,25 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
Vector3f force = getForce(aileron, elevator, rudder); Vector3f force = getForce(aileron, elevator, rudder);
rot_accel = getTorque(aileron, elevator, rudder, thrust, force); rot_accel = getTorque(aileron, elevator, rudder, thrust, force);
if (have_launcher) {
/*
simple simulation of a launcher
*/
if (launch_triggered) {
uint64_t now = AP_HAL::millis64();
if (launch_start_ms == 0) {
launch_start_ms = now;
}
if (now - launch_start_ms < launch_time*1000) {
force.x += launch_accel;
force.z += launch_accel/3;
}
} else {
// allow reset of catapult
launch_start_ms = 0;
}
}
// simulate engine RPM // simulate engine RPM
rpm1 = thrust * 7000; rpm1 = thrust * 7000;

4
libraries/SITL/SIM_Plane.h
View File

@ -99,6 +99,10 @@ protected:
bool reverse_elevator_rudder; bool reverse_elevator_rudder;
bool ice_engine; bool ice_engine;
bool tailsitter; bool tailsitter;
bool have_launcher;
float launch_accel;
float launch_time;
uint64_t launch_start_ms;
ICEngine icengine{2, 14, 12, 13, 100}; ICEngine icengine{2, 14, 12, 13, 100};