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Matthias Grob
2025-05-15 18:51:11 +02:00
parent a3902157fb
commit 435e06af1f
3 changed files with 4 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex
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@@ -37,6 +37,8 @@ param set-default CA_ROTOR5_PX 0.866
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR5_KM -0.05
#param set-default MC_YAW_WEIGHT 0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+1
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@@ -137,6 +137,7 @@ ActuatorEffectivenessRotors::addActuators(Configuration &configuration)
int num_actuators = computeEffectivenessMatrix(_geometry,
configuration.effectiveness_matrices[configuration.selected_matrix],
configuration.num_actuators_matrix[configuration.selected_matrix]);
configuration.effectiveness_matrices[configuration.selected_matrix].print();
configuration.actuatorsAdded(ActuatorType::MOTORS, num_actuators);
return true;
}
src/modules/simulation/simulator_sih/sih.cpp
+1
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@@ -336,6 +336,7 @@ void Sih::generate_force_and_torques()
m3 m2
├1/2┤
├ 1 ┤ */
_u[1] = 0.f;
_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3] + _u[4] + _u[5]));
_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-.5f * _u[0] - _u[1] - .5f * _u[2] + .5f * _u[3] + _u[4] + .5f * _u[5]),
_L_PITCH * _T_MAX * (M_SQRT3_F / 2.f) * (+_u[0] - _u[2] - _u[3] + _u[5]),