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SIH: clean up control surface configuration (#24205)

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* fix sign error in appropriate place

In PR https://github.com/PX4/PX4-Autopilot/pull/24175 I changed the
control surface deflection signs in generate_fw_aerodynamics to make the
1103 airframe work correctly. However, this breaks the 1101 airframe,
introducing sing errors there.

So, here the change in generate_fw_aerodynamics is reverted to the state
before PR #24175. Instead, the signs are set correctly by using
the HIL_ACT_REV bitfield in the respective airframe config files.

* match control surface parameters to SIH model
This commit is contained in:
Balduin
2025-01-27 16:52:29 +01:00
committed by GitHub
parent 165f644580
commit 5bca71791a
4 changed files with 22 additions and 21 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+7 -6
View File
@@ -33,18 +33,19 @@ param set-default SIH_KDV 0.2
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 203
ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+9 -8
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@@ -17,15 +17,16 @@ param set UAVCAN_ENABLE 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set HIL_ACT_REV 1
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set HIL_ACT_FUNC1 201
param set HIL_ACT_FUNC2 202
param set HIL_ACT_FUNC3 203
ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
+5 -6
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@@ -41,20 +41,19 @@ param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 0.5
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set HIL_ACT_REV 32
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MAX 12
param set-default FW_AIRSPD_MIN 7
src/modules/simulation/simulator_sih/sih.cpp
+1 -1
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@@ -361,7 +361,7 @@ void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd,
_wing_l.update_aero(v_B, _w_B, alt, roll_cmd * FLAP_MAX);
_wing_r.update_aero(v_B, _w_B, alt, -roll_cmd * FLAP_MAX);
_tailplane.update_aero(v_B, _w_B, alt, pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
_tailplane.update_aero(v_B, _w_B, alt, -pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
_fin.update_aero(v_B, _w_B, alt, yaw_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
_fuselage.update_aero(v_B, _w_B, alt);