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autotest: make the Rascal a tail dragger again

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good for testing wheeled takeoff
This commit is contained in:
Andrew Tridgell 2011-12-18 18:57:20 +11:00
parent 938bd8b58d
commit 63e77806cf
4 changed files with 30 additions and 22 deletions
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1
Tools/autotest/ArduPlane.parm
View File

@ -2,6 +2,7 @@ LOG_BITMASK 4095
SWITCH_ENABLE 0 SWITCH_ENABLE 0
MAG_ENABLE 0 MAG_ENABLE 0
TRIM_ARSPD_CM 2200 TRIM_ARSPD_CM 2200
TRIM_PITCH_CD -1000
ARSPD_ENABLE 1 ARSPD_ENABLE 1
ARSP2PTCH_I 0.1 ARSP2PTCH_I 0.1
ARSPD_FBW_MAX 30 ARSPD_FBW_MAX 30

30
Tools/autotest/aircraft/Rascal/Rascal.xml
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@ -55,14 +55,14 @@
<contact type="BOGEY" name="LEFT_MLG"> <contact type="BOGEY" name="LEFT_MLG">
<location unit="IN"> <location unit="IN">
<x> 33.1 </x> <x> 33.1 </x>
<y> -9.9 </y> <y> -12.9 </y>
<z> -13.1 </z> <z> -13.1 </z>
</location> </location>
<static_friction> 1.0 </static_friction> <static_friction> 4.0 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction> <dynamic_friction> 1.8 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction> <rolling_friction> 0.001 </rolling_friction>
<spring_coeff unit="LBS/FT"> 12 </spring_coeff> <spring_coeff unit="LBS/FT"> 12 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff> <damping_coeff unit="LBS/FT/SEC"> 3 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer> <max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group> <brake_group> NONE </brake_group>
<retractable>0</retractable> <retractable>0</retractable>
@ -70,14 +70,14 @@
<contact type="BOGEY" name="RIGHT_MLG"> <contact type="BOGEY" name="RIGHT_MLG">
<location unit="IN"> <location unit="IN">
<x> 33.1 </x> <x> 33.1 </x>
<y> 9.9 </y> <y> 12.9 </y>
<z> -13.1 </z> <z> -13.1 </z>
</location> </location>
<static_friction> 1.0 </static_friction> <static_friction> 4.0 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction> <dynamic_friction> 1.8 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction> <rolling_friction> 0.001 </rolling_friction>
<spring_coeff unit="LBS/FT"> 12 </spring_coeff> <spring_coeff unit="LBS/FT"> 12 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff> <damping_coeff unit="LBS/FT/SEC"> 3 </damping_coeff>
<max_steer unit="DEG"> 0.0 </max_steer> <max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group> <brake_group> NONE </brake_group>
<retractable>0</retractable> <retractable>0</retractable>
@ -91,13 +91,13 @@
zero pitch, which makes for a better simulation zero pitch, which makes for a better simulation
of ground start on the accelerometers/gyros in of ground start on the accelerometers/gyros in
ArduPlane --> ArduPlane -->
<z> -7.8 </z> <z> -3 </z>
</location> </location>
<static_friction> 1.0 </static_friction> <static_friction> 4.0 </static_friction>
<dynamic_friction> 0.8 </dynamic_friction> <dynamic_friction> 1.8 </dynamic_friction>
<rolling_friction> 0.02 </rolling_friction> <rolling_friction> 0.05 </rolling_friction>
<spring_coeff unit="LBS/FT"> 12 </spring_coeff> <spring_coeff unit="LBS/FT"> 12 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff> <damping_coeff unit="LBS/FT/SEC"> 3 </damping_coeff>
<max_steer unit="DEG"> 360.0 </max_steer> <max_steer unit="DEG"> 360.0 </max_steer>
<brake_group> NONE </brake_group> <brake_group> NONE </brake_group>
<retractable>0</retractable> <retractable>0</retractable>

2
Tools/autotest/aircraft/Rascal/Rascal110-JSBSim.xml
View File

@ -86,7 +86,7 @@
<location unit="IN"> <location unit="IN">
<x> 68.9 </x> <x> 68.9 </x>
<y> 0 </y> <y> 0 </y>
<z> -6.6 </z> <z> -3 </z>
</location> </location>
<static_friction> 0.8 </static_friction> <static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction> <dynamic_friction> 0.5 </dynamic_friction>

19
Tools/autotest/arduplane.py
View File

@ -9,7 +9,7 @@ testdir=os.path.dirname(os.path.realpath(__file__))
HOME_LOCATION='-35.362938,149.165085,584,270' HOME_LOCATION='-35.362938,149.165085,584,270'
WIND="5,180,0.2" # speed,direction,variance WIND="0,180,0.2" # speed,direction,variance
homeloc = None homeloc = None
@ -19,19 +19,26 @@ def takeoff(mavproxy, mav):
wait_mode(mav, 'FBWA') wait_mode(mav, 'FBWA')
# some rudder to counteract the prop torque # some rudder to counteract the prop torque
mavproxy.send('rc 4 1650\n') mavproxy.send('rc 4 1700\n')
# some up elevator to keep the tail down
mavproxy.send('rc 2 1200\n')
# get it moving a bit first # get it moving a bit first
mavproxy.send('rc 3 1100\n') mavproxy.send('rc 3 1050\n')
mav.recv_match(condition='VFR_HUD.groundspeed>2', blocking=True) mav.recv_match(condition='VFR_HUD.groundspeed>2', blocking=True)
# a bit faster # a bit faster
mavproxy.send('rc 3 1300\n')
mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)
# a bit faster again, straighten rudder
mavproxy.send('rc 3 1600\n') mavproxy.send('rc 3 1600\n')
mavproxy.send('rc 4 1500\n')
mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True) mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)
# hit the gas harder now, and give it some elevator # hit the gas harder now, and give it some more elevator
mavproxy.send('rc 4 1500\n') mavproxy.send('rc 2 1100\n')
mavproxy.send('rc 2 1200\n')
mavproxy.send('rc 3 1800\n') mavproxy.send('rc 3 1800\n')
# gain a bit of altitude # gain a bit of altitude