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Fix ArduPilot starting alt locations #23674

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Fix ArduPilot starting alt locations #23674

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619628f
SITL: adjust starting location altitudes
peterbarker Aug 9, 2023
d6305ea
Tools: adjust starting location altitudes
peterbarker Aug 9, 2023
cb01e35
AP_HAL_SITL: send a warning if we needed to clamp our height-above-gr…
peterbarker May 3, 2023
e5d3095
SITL: mount rangefinder 5cm above the ground
peterbarker May 3, 2023
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2 changes: 1 addition & 1 deletion Tools/autotest/arducopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@

# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 584, 270)
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 586.3, 270)

# Flight mode switch positions are set-up in arducopter.param to be
# switch 1 = Circle
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4 changes: 2 additions & 2 deletions Tools/autotest/locations.txt
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
#NAME=latitude,longitude,absolute-altitude,heading
OSRF0=37.4003371,-122.0800351,0,353
OSRF0_PILOTSBOX=37.4003371,-122.0800351,2,270
CMAC=-35.363261,149.165230,584,353
CMAC2=-35.362889,149.165221,584,270
CMAC=-35.363261,149.165230,586.3,353
CMAC2=-35.362889,149.165221,586.3,270
CMAC_South=-35.363261,149.165230,584,173
CMAC_PILOTSBOX=-35.362734,149.165300,586,270
CMAC_PILOTSBOX2=-35.362749,149.165359,584,270
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9 changes: 9 additions & 0 deletions libraries/AP_HAL_SITL/SITL_State.cpp
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Expand Up @@ -19,6 +19,7 @@
#include <AP_Param/AP_Param.h>
#include <SITL/SIM_JSBSim.h>
#include <AP_HAL/utility/Socket.h>
#include <GCS_MAVLink/GCS.h>

extern const AP_HAL::HAL& hal;

Expand Down Expand Up @@ -596,6 +597,14 @@ void SITL_State::set_height_agl(void)
if (_terrain != nullptr &&
_terrain->height_amsl(location, terrain_height_amsl, false)) {
_sitl->height_agl = _sitl->state.altitude - terrain_height_amsl;
if (_sitl->height_agl < 0) {
static bool sent_warning_clamp;
if (!sent_warning_clamp) {
sent_warning_clamp = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Clamping simulated height agl to zero from (%f)", _sitl->height_agl);
}
_sitl->height_agl = 0;
}
return;
}
}
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3 changes: 3 additions & 0 deletions libraries/SITL/SIM_Aircraft.cpp
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Expand Up @@ -555,6 +555,9 @@ float Aircraft::rangefinder_range() const
// Add some noise on reading
altitude += sitl->sonar_noise * rand_float();

// this rangefinder is mounted on the simulated frame, 5cm off the ground:
altitude += 0.05;
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Does this jive with RNGFND1_GNDCLEAR?


return altitude;
}

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2 changes: 1 addition & 1 deletion libraries/SITL/SITL.cpp
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Expand Up @@ -285,7 +285,7 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
// @DisplayName: Original Position (Altitude)
// @Description: Specifies vehicle's startup altitude (AMSL)
// @User: Advanced
AP_GROUPINFO("OPOS_ALT", 53, SIM, opos.alt, 584.0f),
AP_GROUPINFO("OPOS_ALT", 53, SIM, opos.alt, 586.3f),
// @Param: OPOS_HDG
// @DisplayName: Original Position (Heading)
// @Description: Specifies vehicle's startup heading (0-360)
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