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Plane: added plane-3d frame #22000

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merged 2 commits into from Oct 19, 2022
Merged

Plane: added plane-3d frame #22000

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1cdd1d8
SITL: added plane-3d for aerobatic plane
tridge Oct 15, 2022
15a9b3a
autotest: added plane-3d model and parameters
tridge Oct 15, 2022
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29 changes: 29 additions & 0 deletions Tools/autotest/default_params/plane-3d.parm
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@@ -0,0 +1,29 @@
RLL2SRV_RMAX 75.000000
RLL_RATE_P 0.253315
RLL_RATE_I 0.039625
RLL_RATE_D 0.005096
RLL_RATE_FF 0.039625
RLL_RATE_FLTT 3.183099
RLL_RATE_FLTD 10.000000
PTCH2SRV_TCONST 0.750000
PTCH2SRV_RMAX_UP 75.000000
PTCH2SRV_RMAX_DN 75.000000
PTCH_RATE_P 0.361746
PTCH_RATE_I 0.271310
PTCH_RATE_D 0.007887
PTCH_RATE_FF 0.063623
PTCH_RATE_FLTT 2.122066
PTCH_RATE_FLTD 10.00000
YAW_RATE_ENABLE 1.000000
YAW_RATE_P 0.422192
YAW_RATE_I 0.548437
YAW_RATE_D 0.030000
YAW_RATE_FF 0.548437
YAW_RATE_FLTT 3.183099
YAW_RATE_FLTD 10.000000
YAW_RATE_SMAX 200.000000
YAW_RATE_SMAX 200.0
ACRO_YAW_RATE 60
AHRS_EKF_TYPE 10
TRIM_THROTTLE 30
NAVL1_PERIOD 7
4 changes: 4 additions & 0 deletions Tools/autotest/pysim/vehicleinfo.py
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Expand Up @@ -274,6 +274,10 @@ def __init__(self):
"waf_target": "bin/arduplane",
"default_params_filename": ["default_params/plane.parm", "default_params/plane-ice.parm"],
},
"plane-3d": {
"waf_target": "bin/arduplane",
"default_params_filename": ["default_params/plane.parm", "default_params/plane-3d.parm"],
},
"quadplane-copter_tailsitter": {
"waf_target": "bin/arduplane",
"default_params_filename": ["default_params/quadplane.parm","default_params/quadplane-copter_tailsitter.parm"],
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9 changes: 7 additions & 2 deletions libraries/SITL/SIM_Plane.cpp
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Expand Up @@ -82,6 +82,11 @@ Plane::Plane(const char *frame_str) :
thrust_scale *= 1.5;
}

if (strstr(frame_str, "-3d")) {
aerobatic = true;
thrust_scale *= 1.5;
}

if (strstr(frame_str, "-ice")) {
ice_engine = true;
}
Expand Down Expand Up @@ -142,7 +147,7 @@ Vector3f Plane::getTorque(float inputAileron, float inputElevator, float inputRu
//calculate aerodynamic torque
float effective_airspeed = airspeed;

if (tailsitter) {
if (tailsitter || aerobatic) {
/*
tailsitters get airspeed from prop-wash
*/
Expand Down Expand Up @@ -321,7 +326,7 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
angle_of_attack = atan2f(velocity_air_bf.z, velocity_air_bf.x);
beta = atan2f(velocity_air_bf.y,velocity_air_bf.x);

if (tailsitter) {
if (tailsitter || aerobatic) {
/*
tailsitters get 4x the control surfaces
*/
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1 change: 1 addition & 0 deletions libraries/SITL/SIM_Plane.h
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Expand Up @@ -99,6 +99,7 @@ class Plane : public Aircraft {
bool reverse_elevator_rudder;
bool ice_engine;
bool tailsitter;
bool aerobatic;
bool copter_tailsitter;
bool have_launcher;
float launch_accel;
Expand Down