Merge pull request ArduPilot#33 from krausaerospace/k1000_sitl_model

Added Sam's K1000 SITL frame
magicrub · Jan 13, 2022 · 27f2428 · 27f2428
2 parents 8d562bf + a809b88
commit 27f2428
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diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -2897,6 +2897,7 @@ def fly_each_frame(self):
             "quadplane-cl84": "falls out of sky instead of transitioning",
             "quadplane-tilttri": "falls out of sky instead of transitioning",
             "quadplane-tilttrivec": "loses attitude control and crashes",
+            "plane-soaring-k1000": "correctly fails due to no landing WP",
         }
         for frame in sorted(vinfo_options["frames"].keys()):
             self.start_subtest("Testing frame (%s)" % str(frame))

diff --git a/Tools/autotest/default_params/plane-soaring-k1000.parm b/Tools/autotest/default_params/plane-soaring-k1000.parm
@@ -0,0 +1,99 @@
+ALT_HOLD_RTL            20000
+ARMING_MIS_ITEMS        13
+ARMING_RUDDER           0
+ARSPD_FBW_MAX           20
+ARSPD_FBW_MIN           13
+ARSPD_USE               1
+BATT2_MONITOR           21
+BATT3_MONITOR           21
+BATT4_MONITOR           21
+BATT5_MONITOR           21
+BATT_CAPACITY           56800
+BATT_MONITOR            8
+BATT_OPTIONS            1
+FBWB_CLIMB_RATE         1.75
+FENCE_ACTION            0
+FENCE_AUTOENABLE        2
+FENCE_ALT_MAX           3657
+FLTMODE1                10
+FLTMODE2                10
+FLTMODE_CH              7
+FS_GCS_ENABL            1
+FS_LONG_ACTN            1
+FS_LONG_TIMEOUT         1200
+KFF_THR2PTCH            4
+LAND_ABORT_THR          1
+LAND_DISARMDELAY        3
+LAND_FLARE_ALT          2
+LAND_FLARE_SEC          0
+LAND_PITCH_CD           -200
+LAND_SLOPE_RCALC        0
+LAND_THEN_NEUTRL        1
+LAND_THR_SLEW           126
+LIM_PITCH_MAX           1000
+LIM_PITCH_MIN           -2000
+LIM_ROLL_CD             3000
+LOG_DISARMED            1
+LOG_FILE_DSRMROT        1
+PTCH2SRV_RMAX_DN        40
+PTCH2SRV_RMAX_UP        40
+PTCH2SRV_TCONST         0.6
+PTCH_RATE_D             0.1021
+PTCH_RATE_FF            0.0
+PTCH_RATE_I             0.07
+PTCH_RATE_P             1.7017
+RCMAP_PITCH             3
+RCMAP_ROLL              2
+RCMAP_THROTTLE          1
+RC_OPTIONS              0
+RLL_RATE_D              0.1547
+RLL_RATE_FF             0.0
+RLL_RATE_I              0.1158
+RLL_RATE_P              2.5777
+RNGFND1_GNDCLEAR        20
+RNGFND1_MAX_CM          9500
+RNGFND1_MIN_CM          0
+RNGFND1_SCALING         1
+RNGFND1_SCALING         12.12
+RNGFND1_PIN             0	
+RNGFND1_TYPE            1
+RNGFND_LANDING          1
+RTL_AUTOLAND            2
+RTL_RADIUS              200
+SIM_THML_SCENARI        4.00
+SIM_BATT_VOLTAGE        25.2
+STAB_PITCH_DOWN         0
+STICK_MIXING            0
+TECS_APPR_SMAX          3
+TECS_CLMB_MAX           1.75
+TECS_CLMB_OPER          1.5
+TECS_INTEG_GAIN         0.01
+TECS_LAND_ARSPD         15
+TECS_LAND_PDAMP         0.5
+TECS_LAND_SINK          0.3
+TECS_PITCH_MAX          10
+TECS_PTCH_DAMP          0.2
+TECS_PTCH_FF_V0         15
+TECS_RLL2THR            0
+TECS_SINK_MAX           2
+TECS_SINK_MIN           0.8
+TECS_SINK_OPER          2
+TECS_SPDWEIGHT          2
+TECS_TCONST_STE         0
+TECS_VERT_ACC           15
+THROTTLE_NUDGE          0
+THR_FAILSAFE            0
+TKOFF_GND_PITCH         -6.5
+TKOFF_LVL_ALT           15
+TKOFF_LVL_PITCH         4
+TKOFF_ROTATE_SPD        13.5
+TKOFF_THR_MAX           100
+TKOFF_THR_SLEW          50
+TRIM_ARSPD_CM           1500
+TRIM_THROTTLE           51
+USE_REV_THRUST          0
+WP_LOITER_RAD           250
+WP_RADIUS               50
+YAW2SRV_DAMP            2
+YAW2SRV_INT             1
+YAW2SRV_SLIP            6
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
@@ -266,6 +266,10 @@ def __init__(self):
                 "waf_target": "bin/arduplane",
                 "default_params_filename": ["default_params/plane.parm", "default_params/plane-soaring.parm"]
             },
+            "plane-soaring-k1000": {
+                "waf_target": "bin/arduplane",
+                "default_params_filename": ["default_params/plane.parm","default_params/plane-soaring-k1000.parm"]
+            },
             "gazebo-zephyr": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/gazebo-zephyr.parm",

diff --git a/libraries/SITL/SIM_Plane.cpp b/libraries/SITL/SIM_Plane.cpp
@@ -89,6 +89,20 @@ Plane::Plane(const char *frame_str) :
         mass = 2.0;
         coefficient.c_drag_p = 0.05;
     }
+
+    if (strstr(frame_str, "-k1000")) {
+        mass = 13.8;
+        coefficient.c_drag_p = 0.0164;
+        coefficient.s = 1.67;
+        coefficient.b = 5.0;
+        coefficient.c = 0.36;
+        coefficient.oswald = 0.66;
+        thrust_scale = 100;
+        have_launcher = true;
+        launch_accel = 2;
+        launch_time = 15;
+        reverse_thrust = true;
+    }
 }
 
 /*