Re: [Paparazzi-devel] Some Easyglider airframe file comments

[Haiyang Chao]

Vassilis:

I am interested in modifying the SITL too for our own controller design too. But got stuck at the very beginning. I think the core model is implemented through OCAML probably in  sitl.ml, sitl.mli. Can somebody shed some lights to how the simulation works? 

I think all the simulation files are located in /paparazzi3/sw/airborne/sim. But they are somehow automatically generated from the source files (like main_ap.c, fw_h_ctl.c etc.) in /paparazzi3/sw/airborne. There are lots of SITL and HITL in the airborne code.

I tried to read the Makefile for the simulations, but haven't made too much progress yet.

Regards
Haiyang

On Wed, Oct 14, 2009 at 8:13 PM, Vassilis V. <address@hidden> wrote:

One note, during simulation the true airspeed is not available, for now the GPS ground speed is used instead. Any volunteers willing to modify the airframe simulation model to calculate and output the true airspeed (also using the wind speed and direction from the environment simulator)?

Vassilis

Any ideas on how to calculate the true airspeed in the simulation model (or maybe it is done already)?

On Oct 14, 2009, at 1:11 PM, chris wrote:

Hi.
The definitions only work when you have the airspeed sensor connected and of course uncomment the compile flags and source files in the airframe makefile section.
The relevant files should be commented out in the airframe's makefile section if you don't use the airspeed sensor.
They are also useful in simulation.
In order to use those definitions in simulation make sure that the airspeed flags and source files
are uncommented in the simulation part of the airframe's makefile section
(near the end of the airframe file)
Of course in simulation you don't need to have the airspeed sensor installed.
The -DSTRONG_WIND definition helps the plane cope with strong winds.
Have a look inside the "fw_h_ctl.c" file.
I needed one more channel so i now use one autopilot servo for the aileron and by using a Y splitter i connect both aileron servos to it.
Chris



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