SITL: modify for quad motors on first 4 outputs

CarbonixUAV · Sep 6, 2024 · 0aec005 · 0aec005
1 parent 694000a
commit 0aec005
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/libraries/SITL/SIM_Aircraft.h b/libraries/SITL/SIM_Aircraft.h
@@ -318,7 +318,7 @@ class Aircraft {
         Location location;
     } smoothing;
 
-    LowPassFilterFloat servo_filter[5];
+    LowPassFilterFloat servo_filter[16];
 
     Buzzer *buzzer;
     Sprayer *sprayer;

diff --git a/libraries/SITL/SIM_Plane.cpp b/libraries/SITL/SIM_Plane.cpp
@@ -262,9 +262,9 @@ Vector3f Plane::getForce(float inputAileron, float inputElevator, float inputRud
 
 void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel)
 {
-    float aileron  = filtered_servo_angle(input, 0);
-    float elevator = filtered_servo_angle(input, 1);
-    float rudder   = filtered_servo_angle(input, 3);
+    float aileron  = filtered_servo_angle(input, 9);
+    float elevator = filtered_servo_angle(input, 5);
+    float rudder   = filtered_servo_angle(input, 10);
     bool launch_triggered = input.servos[6] > 1700;
     float throttle;
     if (reverse_elevator_rudder) {
@@ -303,9 +303,9 @@ void Plane::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel
     //printf("Aileron: %.1f elevator: %.1f rudder: %.1f\n", aileron, elevator, rudder);
 
     if (reverse_thrust) {
-        throttle = filtered_servo_angle(input, 2);
+        throttle = filtered_servo_angle(input, 4);
     } else {
-        throttle = filtered_servo_range(input, 2);
+        throttle = filtered_servo_range(input, 4);
     }
 
     float thrust     = throttle;

diff --git a/libraries/SITL/SIM_QuadPlane.cpp b/libraries/SITL/SIM_QuadPlane.cpp
@@ -27,7 +27,7 @@ QuadPlane::QuadPlane(const char *frame_str) :
 {
     // default to X frame
     const char *frame_type = "x";
-    uint8_t motor_offset = 4;
+    uint8_t motor_offset = 0;
 
     ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;