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Add an option to estimate control surfaces deflections based on rotational

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rates (not perfect, but lacking any data at all this is better than showing
them all hard over full stop.)
This commit is contained in:
curt 2007-06-11 19:13:08 +00:00
parent 37b4f921e1
commit 93617f577d
1 changed files with 22 additions and 4 deletions
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26
utils/GPSsmooth/UGear_main.cxx
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@ -73,6 +73,8 @@ bool ignore_checksum = false;
bool sg_swap = false;
bool est_controls = false;
// The function htond is defined this way due to the way some
// processors and OSes treat floating point values. Some will raise
// an exception whenever a "bad" floating point value is loaded into a
@ -205,13 +207,26 @@ static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
fdm->left_flap = 0.0;
fdm->right_flap = 0.0;
fdm->elevator = ((double)servopacket->chn[1] / 32768.0) - 1.0;
if ( est_controls ) {
static float est_elev = 0.0;
static float est_aileron = 0.0;
static float est_rudder = 0.0;
est_elev = 0.95 * est_elev + 0.05 * (imupacket->q * 8);
est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 8);
est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 8);
fdm->elevator = -est_elev;
fdm->left_aileron = est_aileron;
fdm->right_aileron = -est_aileron;
fdm->rudder = est_rudder;
} else {
fdm->elevator = ((double)servopacket->chn[1] / 32768.0) - 1.0;
fdm->left_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
fdm->right_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
}
fdm->elevator_trim_tab = 0.0;
fdm->left_flap = 0.0;
fdm->right_flap = 0.0;
fdm->left_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
fdm->right_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
fdm->nose_wheel = 0.0;
fdm->speedbrake = 0.0;
fdm->spoilers = 0.0;
@ -321,6 +336,7 @@ void usage( const string &argv0 ) {
cout << "\t[ --broadcast ]" << endl;
cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
cout << "\t[ --estimate-control-deflections ]" << endl;
cout << "\t[ --altitude-offset <meters> ]" << endl;
cout << "\t[ --skip-seconds <seconds> ]" << endl;
cout << "\t[ --no-real-time ]" << endl;
@ -405,6 +421,8 @@ int main( int argc, char **argv ) {
usage( argv[0] );
exit( -1 );
}
} else if ( strcmp (argv[i], "--estimate-control-deflections" ) == 0 ) {
est_controls = true;
} else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
++i;
if ( i < argc ) {