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Remove exception of actuator scaling for airships (#16011) 

This removes the exception handling of airship type vehicles when scaling actuators for the simulator
This commit is contained in:
JaeyoungLim 2020-10-22 10:37:03 +02:00 committed by GitHub
parent d91d7e3282
commit 46d79d3050
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 20 deletions
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23
src/modules/simulator/simulator_mavlink.cpp
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@ -89,7 +89,8 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
int _system_type = _param_mav_type.get();
/* scale outputs depending on system type */
if (_system_type == MAV_TYPE_QUADROTOR ||
if (_system_type == MAV_TYPE_AIRSHIP ||
_system_type == MAV_TYPE_QUADROTOR ||
_system_type == MAV_TYPE_HEXAROTOR ||
_system_type == MAV_TYPE_OCTOROTOR ||
_system_type == MAV_TYPE_VTOL_DUOROTOR ||
@ -102,6 +103,7 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
unsigned n;
switch (_system_type) {
case MAV_TYPE_AIRSHIP:
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
@ -143,25 +145,6 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
}
}
} else if (_system_type == MAV_TYPE_AIRSHIP) {
/* airship: scale starboard and port throttle to 0..1 and other channels (tilt, tail thruster) to -1..1 */
for (unsigned i = 0; i < 16; i++) {
if (armed) {
if (i < 2) {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
msg.controls[i] = (_actuator_outputs.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to -1..1 for other channels */
msg.controls[i] = (_actuator_outputs.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
} else {
/* set 0 for disabled channels */
msg.controls[i] = 0.0f;
}
}
} else {
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */