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[nps] if NPS_JS_MODE_AXIS is defined: use it as axis for the mode channel instead of buttons

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add fraser jsbsim quadrotor model with front/back motors turning CCW, left/right CW
This commit is contained in:
Felix Ruess
2013-01-23 13:24:55 +01:00
parent f59fb791a8
commit a7501408b0
4 changed files with 446 additions and 31 deletions
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conf/airframes/fraser_lisa_m_rotorcraft.xml
+1
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@@ -225,6 +225,7 @@
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<define name="JS_MODE_AXIS" value="4"/>
</section>
<section name="AUTOPILOT">
conf/simulator/jsbsim/aircraft/Quad_LisaM_2.xml
+4 -4
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@@ -3,10 +3,10 @@
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> Gustavo Violato &amp; Antoine Drouin</author>
<filecreationdate> 24-02-2009 </filecreationdate>
<version> Version 0.9 - beta</version>
<description> Simple Quadrotor without rotor dynamic </description>
<author>Gustavo Violato &amp; Antoine Drouin</author>
<filecreationdate>24-02-2009</filecreationdate>
<version>Version 0.9 - beta</version>
<description>Simple Quadrotor without rotor dynamic (front/back motors turning CW, left/right CCW)</description>
</fileheader>
<metrics>
conf/simulator/jsbsim/aircraft/fraser.xml
+396
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@@ -0,0 +1,396 @@
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author>Gustavo Violato &amp; Antoine Drouin</author>
<filecreationdate>24-02-2009</filecreationdate>
<version>Version 0.9 - beta</version>
<description>Simple Quadrotor without rotor dynamic (front/back motors turning CCW, left/right CW)</description>
</fileheader>
<metrics>
<wingarea unit="IN2"> 78.53 </wingarea>
<wingspan unit="IN"> 10 </wingspan>
<chord unit="IN"> 6.89 </chord>
<htailarea unit="FT2"> 0 </htailarea>
<htailarm unit="FT"> 0 </htailarm>
<vtailarea unit="FT2"> 0 </vtailarea>
<vtailarm unit="FT"> 0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
<location name="VRP" unit="IN">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</metrics>
<mass_balance>
<ixx unit="SLUG*FT2"> 0.005 </ixx>
<iyy unit="SLUG*FT2"> 0.005 </iyy>
<izz unit="SLUG*FT2"> 0.010 </izz>
<ixy unit="SLUG*FT2"> 0. </ixy>
<ixz unit="SLUG*FT2"> 0. </ixz>
<iyz unit="SLUG*FT2"> 0. </iyz>
<emptywt unit="LBS"> 0.84 </emptywt>
<location name="CG" unit="M">
<x> 0 </x>
<y> 0 </y>
<z> 0 </z>
</location>
</mass_balance>
<ground_reactions>
<contact type="STRUCTURE" name="CONTACT_FRONT">
<location unit="M">
<x>-0.15 </x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_BACK">
<location unit="M">
<x> 0.15</x>
<y> 0 </y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_RIGHT">
<location unit="M">
<x> 0. </x>
<y> 0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="CONTACT_LEFT">
<location unit="M">
<x> 0. </x>
<y>-0.15</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
<dynamic_friction> 0.5 </dynamic_friction>
<spring_coeff unit="N/M"> 500 </spring_coeff>
<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
<max_steer unit="DEG"> 0.0 </max_steer>
<brake_group> NONE </brake_group>
<retractable>0</retractable>
</contact>
</ground_reactions>
<external_reactions>
<property>fcs/front_motor</property>
<property>fcs/back_motor</property>
<property>fcs/right_motor</property>
<property>fcs/left_motor</property>
<!-- First the lift forces produced by each propeller -->
<force name="front_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="back_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>0</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="right_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<force name="left_motor" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>0</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<!-- Then the Moment Couples -->
<!-- Front Engine -->
<force name="front_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<!-- Necessary arm in IN to produce a moment ten times
"weaker" then the force when both are measured in the SI.
front and back motors turning clockwise, left and right motors
turning anti-clockwise when view from up-->
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="front_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/front_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Back Engine -->
<force name="back_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>1.9685</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<force name="back_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/back_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>6.89</x>
<y>-1.9685</y>
<z>0</z>
</location>
<direction>
<x>1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<!-- Right Engine -->
<force name="right_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
<force name="right_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/right_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
<!-- Left Engine -->
<force name="left_couple1" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>-1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>-1</y>
<z>0</z>
</direction>
</force>
<force name="left_couple2" frame="BODY" unit="LBS">
<function>
<product>
<property>fcs/left_motor</property>
<value> 0.84 </value>
</product>
</function>
<location unit="IN">
<x>1.9685</x>
<y>-6.89</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>1</y>
<z>0</z>
</direction>
</force>
</external_reactions>
<propulsion/>
<flight_control name="FGFCS"/>
<aerodynamics>
<axis name="DRAG">
<function name="aero/coefficient/CD">
<description>Drag</description>
<product>
<property>aero/qbar-psf</property>
<value>47.9</value> <!-- Conversion to pascals -->
<value>0.0151</value> <!-- CD x Area (m^2) -->
<value>0.224808943</value> <!-- N to LBS -->
</product>
</function>
</axis>
</aerodynamics>
</fdm_config>
sw/simulator/nps/nps_radio_control_joystick.c
+45 -27
View File
@@ -33,6 +33,9 @@
#include "nps_radio_control.h"
#include "nps_radio_control_joystick.h"
// for NPS_JS_MODE_AXIS
#include "generated/airframe.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
@@ -43,13 +46,22 @@
#define JS_PITCH 1
#define JS_YAW 2
#define JS_THROTTLE 3
#ifndef NPS_JS_MODE_AXIS
#define JS_NB_AXIS 4
#else
#define JS_NB_AXIS 5
#endif
// buttons to switch modes
#define JS_MODE_MANUAL 4
#define JS_MODE_AUTO1 5
#define JS_MODE_AUTO2 6
#define JS_BUTTON_MODE_MANUAL 4
#define JS_BUTTON_MODE_AUTO1 5
#define JS_BUTTON_MODE_AUTO2 6
#ifndef NPS_JS_MODE_AXIS
#define JS_NB_BUTTONS 3
#else
#define JS_NB_BUTTONS 0
#endif
NpsJoystick nps_joystick;
SDL_Joystick *sdl_joystick;
@@ -126,6 +138,7 @@ int nps_radio_control_joystick_init(const char* device) {
else if (SDL_JoystickNumButtons(sdl_joystick) < JS_NB_BUTTONS)
{
printf("Selected joystick does not support enough buttons!\n");
printf("Buttons supported: %d needed: %d\n", SDL_JoystickNumButtons(sdl_joystick), JS_NB_BUTTONS);
SDL_JoystickClose(sdl_joystick);
exit(-1);
}
@@ -146,43 +159,48 @@ void nps_radio_control_joystick_update(void) {
nps_joystick.roll = (float)(SDL_JoystickGetAxis(sdl_joystick,JS_ROLL))/32767.;
nps_joystick.pitch = (float)(SDL_JoystickGetAxis(sdl_joystick,JS_PITCH))/32767.;
nps_joystick.yaw = (float)(SDL_JoystickGetAxis(sdl_joystick,JS_YAW))/32767.;
// if an axis is asigned to the mode, use it instead of the buttons
#ifdef NPS_JS_MODE_AXIS
nps_joystick.mode = (float)(SDL_JoystickGetAxis(sdl_joystick,NPS_JS_MODE_AXIS))/32767.;
#endif
while(SDL_PollEvent(&sdl_event))
{
switch(sdl_event.type)
{
case SDL_JOYBUTTONDOWN:
{
switch(sdl_event.jbutton.button)
{
case JS_MODE_MANUAL:
nps_joystick.mode = MODE_SWITCH_MANUAL;
break;
{
switch(sdl_event.jbutton.button)
{
#ifndef NPS_JS_MODE_AXIS
case JS_BUTTON_MODE_MANUAL:
nps_joystick.mode = MODE_SWITCH_MANUAL;
break;
case JS_MODE_AUTO1:
nps_joystick.mode = MODE_SWITCH_AUTO1;
break;
case JS_BUTTON_MODE_AUTO1:
nps_joystick.mode = MODE_SWITCH_AUTO1;
break;
case JS_MODE_AUTO2:
nps_joystick.mode = MODE_SWITCH_AUTO2;
break;
default:
//ignore
break;
case JS_BUTTON_MODE_AUTO2:
nps_joystick.mode = MODE_SWITCH_AUTO2;
break;
#endif
default:
//ignore
break;
}
}
}
break;
break;
case SDL_QUIT:
printf("Quitting...\n");
exit(-1);
break;
printf("Quitting...\n");
exit(-1);
break;
default:
//do nothing
printf("unknown SDL event!!!\n");
break;
//do nothing
printf("unknown SDL event!!!\n");
break;
}
}
}