From 250f2bbc1211a43197e7876b9b8c4e995a6f50f7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 30 Jun 2024 08:26:52 +1000 Subject: [PATCH] SITL: added comments on how to fly the glider --- libraries/SITL/SIM_Glider.cpp | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/libraries/SITL/SIM_Glider.cpp b/libraries/SITL/SIM_Glider.cpp index 5ac36148d4ea61..c86535b83cc5dc 100644 --- a/libraries/SITL/SIM_Glider.cpp +++ b/libraries/SITL/SIM_Glider.cpp @@ -14,6 +14,26 @@ */ /* glider model for high altitude balloon drop + + controls: + - servo6: balloon lift, 1000 for no lift, 2000 for maximum lift + - servo10: balloon cut, this cuts away the balloon when high + + Note that the glider starts off in a lifted by tail pose, with pitch + -80 degrees. The balloon then lifts the glider above the ground. The + balloon automatically bursts at a height of SIM_GLD_BLN_BRST meters, + or can be cut away early with servo10. + + The maximum rate of the balloon lift is in SIM_GLD_BLN_RATE, in m/s + + To perform a takeoff first arm on the ground then use + servo set 6 2000 + to release the ground hold. Use this to cut away the balloon: + servo set 10 2000 + + For an automatic mission, NAV_ALTITUDE_WAIT should be used to wait + for a desired altitude under balloon lift. Then a DO_SET_SERVO with + servo 10 and a value of 2000 to cut away the balloon. */ #include "SIM_Glider.h"