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fix submarine sitl: indicate motor channel range 0..1 or -1..1 in simulation_mavlink.cpp (#16637)

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change motor_count variable to 'pos_thrust_motor_count'
This is more specific to what is actually happening in the code.
'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust) all other motors are configured for -1..1 range

submarine only have motors with -1..1 range.
Thus, pos_thrust_motor_count = 0

Co-authored-by: Thies Lennart Alff <33184858+lennartalff@users.noreply.github.com>
This commit is contained in:
Daniel Duecker
2021-01-25 14:17:24 +01:00
committed by GitHub
co-authored by Thies Lennart Alff
parent 455f762516
commit f9e07337f8
1 changed files with 16 additions and 10 deletions
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src/modules/simulator/simulator_mavlink.cpp
+16 -10
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@@ -87,52 +87,58 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
int _system_type = _param_mav_type.get();
unsigned motors_count;
/* 'pos_thrust_motors_count' indicates number of motor channels which are configured with 0..1 range (positive thrust)
all other motors are configured for -1..1 range */
unsigned pos_thrust_motors_count;
bool is_fixed_wing;
switch (_system_type) {
case MAV_TYPE_AIRSHIP:
case MAV_TYPE_VTOL_DUOROTOR:
case MAV_TYPE_COAXIAL:
motors_count = 2;
pos_thrust_motors_count = 2;
is_fixed_wing = false;
break;
case MAV_TYPE_TRICOPTER:
motors_count = 3;
pos_thrust_motors_count = 3;
is_fixed_wing = false;
break;
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_VTOL_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR:
motors_count = 4;
pos_thrust_motors_count = 4;
is_fixed_wing = false;
break;
case MAV_TYPE_VTOL_RESERVED2:
motors_count = 5;
pos_thrust_motors_count = 5;
is_fixed_wing = false;
break;
case MAV_TYPE_HEXAROTOR:
motors_count = 6;
pos_thrust_motors_count = 6;
is_fixed_wing = false;
break;
case MAV_TYPE_OCTOROTOR:
pos_thrust_motors_count = 8;
is_fixed_wing = false;
break;
case MAV_TYPE_SUBMARINE:
motors_count = 8;
pos_thrust_motors_count = 0;
is_fixed_wing = false;
break;
case MAV_TYPE_FIXED_WING:
motors_count = 0;
pos_thrust_motors_count = 0;
is_fixed_wing = true;
break;
default:
motors_count = 0;
pos_thrust_motors_count = 0;
is_fixed_wing = false;
break;
}
@@ -143,7 +149,7 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
msg->controls[i] = 0.0f;
} else if ((is_fixed_wing && i == 4) ||
(!is_fixed_wing && i < motors_count)) { //multirotor, rotor channel
(!is_fixed_wing && i < pos_thrust_motors_count)) { //multirotor, rotor channel
/* scale PWM out PWM_DEFAULT_MIN..PWM_DEFAULT_MAX us to 0..1 for rotors */
msg->controls[i] = (_actuator_outputs.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
msg->controls[i] = math::constrain(msg->controls[i], 0.f, 1.f);