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small changes to be able to configure two ailerons

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2024-10-04 10:03:26 +03:00
parent d847f20515
commit f97ca30c3f
2 changed files with 3 additions and 3 deletions
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4
src/modules/simulation/simulator_sih/sih.cpp
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@ -323,11 +323,11 @@ void Sih::generate_force_and_torques()
// _Ma_B = -_KDW * _w_B; // first order angular damper
} else if (_vehicle == VehicleType::SVTOL) {
_T_B = Vector3f(_T_MAX * 2 * _u[7], 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
_T_B = Vector3f(_T_MAX * 2 * _u[8], 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]),
_L_PITCH * _T_MAX * (+_u[0] - _u[1] + _u[2] - _u[3]),
_Q_MAX * (+_u[0] + _u[1] - _u[2] - _u[3]));
generate_fw_aerodynamics(_u[4], _u[5], _u[6], 0);
generate_fw_aerodynamics(_u[4], _u[6], _u[7], 0);
}
}

2
src/modules/simulation/simulator_sih/sih.hpp
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@ -132,7 +132,7 @@ private:
uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
// hard constants
static constexpr uint16_t NB_MOTORS = 8;
static constexpr uint16_t NB_MOTORS = 9;
static constexpr float T1_C = 15.0f; // ground temperature in Celsius
static constexpr float T1_K = T1_C - atmosphere::kAbsoluteNullCelsius; // ground temperature in Kelvin
static constexpr float TEMP_GRADIENT = -6.5f / 1000.0f; // temperature gradient in degrees per metre