fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 16:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #3210 from PX4/tailsitter_gazebo

Browse Source 
Tailsitter gazebo
This commit is contained in:
Roman Bapst
2015-11-18 17:39:14 +01:00
parent 2e632cb84a 0fa0654f5a
commit b156519468
8 changed files with 73 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/firmware/posix/CMakeLists.txt
+1 -1
View File
@@ -34,7 +34,7 @@ add_dependencies(run_config mainapp)
foreach(viewer none jmavsim gazebo)
foreach(debugger none gdb lldb ddd valgrind)
foreach(model none iris vtol)
foreach(model none iris tailsitter)
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
src/modules/simulator/simulator_mavlink.cpp
+2 -2
View File
@@ -80,7 +80,7 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
// for now we only support quadrotors
unsigned n = 4;
if (_vehicle_status.is_rotary_wing) {
if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) {
for (unsigned i = 0; i < 8; i++) {
if (_actuators.output[i] > PWM_LOWEST_MIN / 2) {
if (i < n) {
@@ -113,7 +113,7 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
actuator_msg.time_usec = hrt_absolute_time();
actuator_msg.roll_ailerons = out[0];
actuator_msg.pitch_elevator = _vehicle_status.is_rotary_wing ? out[1] : -out[1];
actuator_msg.pitch_elevator = (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) ? out[1] : -out[1];
actuator_msg.yaw_rudder = out[2];
actuator_msg.throttle = out[3];
actuator_msg.aux1 = out[4];
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+2 -2
View File
@@ -95,9 +95,9 @@
// Product Name Product Revision
#define GYROSIMES_REV_C4 0x14
#define GYROSIM_ACCEL_DEFAULT_RATE 1000
#define GYROSIM_ACCEL_DEFAULT_RATE 400
#define GYROSIM_GYRO_DEFAULT_RATE 1000
#define GYROSIM_GYRO_DEFAULT_RATE 400
#define GYROSIM_ONE_G 9.80665f