From ee5f12083e6cd0eab842342d557d2277d4856741 Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Fri, 27 Nov 2009 13:41:03 +0000 Subject: [PATCH] parse get_settings and set trur IR sensor orientation for simulation with JSBSim --- sw/airborne/sim/jsbsim_hw.h | 1 + sw/airborne/sim/jsbsim_ir.c | 11 +++++++++-- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/sw/airborne/sim/jsbsim_hw.h b/sw/airborne/sim/jsbsim_hw.h index bcae4f356e..5687adc560 100644 --- a/sw/airborne/sim/jsbsim_hw.h +++ b/sw/airborne/sim/jsbsim_hw.h @@ -62,6 +62,7 @@ void update_bat(double bat); void parse_dl_ping(char* argv[]); void parse_dl_acinfo(char* argv[]); void parse_dl_setting(char* argv[]); +void parse_dl_get_setting(char* argv[]); void parse_dl_block(char* argv[]); void parse_dl_move_wp(char* argv[]); diff --git a/sw/airborne/sim/jsbsim_ir.c b/sw/airborne/sim/jsbsim_ir.c index d1d84d37d1..579caf645c 100644 --- a/sw/airborne/sim/jsbsim_ir.c +++ b/sw/airborne/sim/jsbsim_ir.c @@ -8,11 +8,18 @@ #include "jsbsim_hw.h" #include +#ifndef JSBSIM_IR_ROLL_NEUTRAL +#define JSBSIM_IR_ROLL_NEUTRAL 0. +#endif +#ifndef JSBSIM_IR_PITCH_NEUTRAL +#define JSBSIM_IR_PITCH_NEUTRAL 0. +#endif + void set_ir(double roll, double pitch) { double ir_contrast = 150; //FIXME - double roll_sensor = roll + ir_roll_neutral; - double pitch_sensor = pitch + ir_pitch_neutral; + double roll_sensor = roll + JSBSIM_IR_ROLL_NEUTRAL; // ir_roll_neutral; + double pitch_sensor = pitch + JSBSIM_IR_PITCH_NEUTRAL; // ir_pitch_neutral; #ifdef INFRARED ir_roll = sin(roll_sensor) * ir_contrast; ir_pitch = sin(pitch_sensor) * ir_contrast;