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autotest: switch to full accel modelling in multicopter simulation

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the new AHRS code should allow for centripetal compensation in
multicopters
This commit is contained in:
Andrew Tridgell 2012-06-20 19:52:41 +10:00
parent 69e68783d3
commit 624fdda89c
1 changed files with 2 additions and 7 deletions
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9
Tools/autotest/pysim/aircraft.py
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@ -23,7 +23,7 @@ class Aircraft(object):
self.position = Vector3(0, 0, 0) # m North, East, Down self.position = Vector3(0, 0, 0) # m North, East, Down
self.mass = 0.0 self.mass = 0.0
self.update_frequency = 50 # in Hz self.update_frequency = 50 # in Hz
self.gravity = 9.8 # m/s/s self.gravity = 9.80665 # m/s/s
self.accelerometer = Vector3(0, 0, -self.gravity) self.accelerometer = Vector3(0, 0, -self.gravity)
self.wind = util.Wind('0,0,0') self.wind = util.Wind('0,0,0')
@ -47,9 +47,4 @@ class Aircraft(object):
velocity_body = self.dcm.transposed() * self.velocity velocity_body = self.dcm.transposed() * self.velocity
# force the acceleration to mostly be from gravity. We should be using 100% accel_body, self.accelerometer = self.accel_body.copy()
# but right now that flies very badly as the AHRS system can't do centripetal correction
# for multicopters. This is a compromise until we get that sorted out
accel_true = self.accel_body
accel_fake = self.dcm.transposed() * Vector3(0, 0, -self.gravity)
self.accelerometer = (accel_true * 0.5) + (accel_fake * 0.5)