Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[nps] fixedwing hacks

Browse Source
This commit is contained in:
Felix Ruess
2014-05-19 17:37:08 +02:00
parent ecc766e403
commit 697d0c1be1
4 changed files with 25 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/examples/MentorEnergy.xml
+4 -1
View File
@@ -268,10 +268,13 @@
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_MODEL" value="&quot;LisaAspirin2&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="COMMANDS_NB" value="4"/>
<define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;, &quot;rudder-cmd-norm&quot;}"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<define name="JS_AXIS_MODE" value="4"/>
<define name="BYPASS_AHRS" value="TRUE"/>
<define name="BYPASS_INS" value="TRUE"/>
</section>
</airframe>
conf/airframes/examples/microjet_lisa_m.xml
+19
View File
@@ -10,6 +10,10 @@
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="jsbsim" board="pc"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<target name="ap" board="lisa_m_2.0">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
@@ -195,4 +199,19 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_INIT" value="&quot;Malolo1-IC&quot;"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="COMMANDS_NB" value="3"/>
<define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;}"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<define name="JS_AXIS_MODE" value="4"/>
<define name="BYPASS_AHRS" value="TRUE"/>
<define name="BYPASS_INS" value="TRUE"/>
</section>
</airframe>
conf/simulator/jsbsim/aircraft/LisaAspirin2.xml → conf/simulator/jsbsim/aircraft/Malolo1.xml
View File
sw/simulator/nps/nps_autopilot_fixedwing.c
+2
View File
@@ -136,6 +136,8 @@ void nps_autopilot_run_step(double time) {
/* scale final motor commands to 0-1 for feeding the fdm */
for (uint8_t i=0; i < NPS_COMMANDS_NB; i++)
autopilot.commands[i] = (double)commands[i]/MAX_PPRZ;
// hack: invert pitch to fit most JSBSim models
autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH]/MAX_PPRZ;
}