From 435e06af1fd7f6db79bababc6141ed3d9a0b23a0 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 15 May 2025 18:51:11 +0200 Subject: [PATCH] TEMP --- ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex | 2 ++ .../ActuatorEffectivenessRotors.cpp | 1 + src/modules/simulation/simulator_sih/sih.cpp | 1 + 3 files changed, 4 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex b/ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex index 36ae9a26d7..acf4938b50 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex @@ -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 diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp index b4edd0f2b0..c9efaddebb 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp @@ -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; } diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index 32b973c3f8..7e3bc4dd55 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -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]),