Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
625abc2c
Commit
625abc2c
authored
Jun 29, 2014
by
Lorenz Meier
Browse files
Options
Browse Files
Download
Plain Diff
Merge pull request #734 from thomasgubler/hil_quad
FGFS multicopter HIL
parents
1caf009e
80a987a3
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
with
83 additions
and
38 deletions
+83
-38
arducopter.xml
files/flightgear/Aircraft/arducopter/arducopter.xml
+28
-23
qgroundcontrol-quadrotor.xml
files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
+55
-15
No files found.
files/flightgear/Aircraft/arducopter/arducopter.xml
View file @
625abc2c
...
...
@@ -103,11 +103,11 @@
</ground_reactions>
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
<propulsion>
<engine
file=
"a2830-12"
name=
"
fron
t"
>
<engine
file=
"a2830-12"
name=
"
righ
t"
>
<location
unit=
"M"
>
<x>
-0.283
</x>
<y>
0.
00
</y>
<z>
0.00
</z>
<x>
0.000
</x>
<y>
0.
283
</y>
<z>
0.00
0
</z>
</location>
<orient
unit=
"DEG"
>
<pitch>
90.00
</pitch>
...
...
@@ -117,8 +117,8 @@
<feed>
0
</feed>
<thruster
file=
"prop10x4.5"
>
<location
unit=
"M"
>
<x>
-0.283
</x>
<y>
0.
00
</y>
<x>
0.000
</x>
<y>
0.
283
</y>
<z>
0.125
</z>
</location>
<orient
unit=
"DEG"
>
...
...
@@ -130,11 +130,12 @@
<p_factor>
10
</p_factor>
</thruster>
</engine>
<engine
file=
"a2830-12"
name=
"rear"
>
<engine
file=
"a2830-12"
name=
"left"
>
<location
unit=
"M"
>
<x>
0.
283
</x>
<y>
0.000
</y>
<z>
0.00
0
</z>
<x>
0.
00
</x>
<y>
-0.283
</y>
<z>
0.00
</z>
</location>
<orient
unit=
"DEG"
>
<pitch>
90.00
</pitch>
...
...
@@ -144,8 +145,8 @@
<feed>
0
</feed>
<thruster
file=
"prop10x4.5"
>
<location
unit=
"M"
>
<x>
0.
283
</x>
<y>
0.000
</y>
<x>
0.
00
</x>
<y>
-0.283
</y>
<z>
0.125
</z>
</location>
<orient
unit=
"DEG"
>
...
...
@@ -157,11 +158,12 @@
<p_factor>
10
</p_factor>
</thruster>
</engine>
<engine
file=
"a2830-12"
name=
"left"
>
<engine
file=
"a2830-12"
name=
"front"
>
<location
unit=
"M"
>
<x>
0.00
</x>
<y>
0.
283
</y>
<z>
0.00
</z>
<x>
-0.283
</x>
<y>
0.
00
</y>
<z>
0.00
</z>
</location>
<orient
unit=
"DEG"
>
<pitch>
90.00
</pitch>
...
...
@@ -171,8 +173,8 @@
<feed>
0
</feed>
<thruster
file=
"prop10x4.5"
>
<location
unit=
"M"
>
<x>
0.00
</x>
<y>
0.
283
</y>
<x>
-0.283
</x>
<y>
0.
00
</y>
<z>
0.125
</z>
</location>
<orient
unit=
"DEG"
>
...
...
@@ -184,10 +186,11 @@
<p_factor>
10
</p_factor>
</thruster>
</engine>
<engine
file=
"a2830-12"
name=
"right"
>
<engine
file=
"a2830-12"
name=
"rear"
>
<location
unit=
"M"
>
<x>
0.
000
</x>
<y>
-0.283
</y>
<x>
0.
283
</x>
<y>
0.000
</y>
<z>
0.000
</z>
</location>
<orient
unit=
"DEG"
>
...
...
@@ -198,8 +201,8 @@
<feed>
0
</feed>
<thruster
file=
"prop10x4.5"
>
<location
unit=
"M"
>
<x>
0.
000
</x>
<y>
-0.283
</y>
<x>
0.
283
</x>
<y>
0.000
</y>
<z>
0.125
</z>
</location>
<orient
unit=
"DEG"
>
...
...
@@ -211,6 +214,7 @@
<p_factor>
10
</p_factor>
</thruster>
</engine>
<tank
type=
"FUEL"
number=
"0"
>
<location
unit=
"M"
>
<x>
0.00
</x>
...
...
@@ -222,6 +226,7 @@
<contents
unit=
"KG"
>
0.0
</contents>
</tank>
</propulsion>
<aerodynamics>
<axis
name=
"LIFT"
>
</axis>
...
...
files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
View file @
625abc2c
...
...
@@ -6,7 +6,7 @@
<output>
<line_separator>
newline
</line_separator>
<var_separator>
tab
</var_separator>
<chunk>
<name>
time (sec)
</name>
<type>
float
</type>
...
...
@@ -46,7 +46,7 @@
<node>
/orientation/roll-deg
</node>
<factor>
0.01745329251994329576
</factor>
<!-- degrees to radians -->
</chunk>
<chunk>
<name>
pitch angle (rad)
</name>
<type>
float
</type>
...
...
@@ -54,7 +54,7 @@
<node>
/orientation/pitch-deg
</node>
<factor>
0.01745329251994329576
</factor>
<!-- degrees to radians -->
</chunk>
<chunk>
<name>
yaw angle
</name>
<type>
float
</type>
...
...
@@ -109,7 +109,7 @@
</chunk>
<!-- Velocities -->
<chunk>
<name>
Velocity North ("vn" mps)
</name>
<type>
float
</type>
...
...
@@ -141,7 +141,42 @@
<node>
/velocities/airspeed-kt
</node>
<factor>
0.514444444444444
</factor>
<!-- knots to mps -->
</chunk>
<!-- Magnetometer -->
<chunk>
<name>
Magnetic Variation (rad)
</name>
<type>
float
</type>
<format>
%.8f
</format>
<node>
/environment/magnetic-variation-deg
</node>
<factor>
0.01745329251994329576
</factor>
<!-- degrees to radians -->
</chunk>
<chunk>
<name>
Magnetic Dip (rad)
</name>
<type>
float
</type>
<format>
%.8f
</format>
<node>
/environment/magnetic-dip-deg
</node>
<factor>
0.01745329251994329576
</factor>
<!-- degrees to radians -->
</chunk>
<!-- Temperature -->
<chunk>
<name>
Temperature (deg C)
</name>
<type>
float
</type>
<format>
%.8f
</format>
<node>
/environment/temperature-degc
</node>
<factor>
1
</factor>
</chunk>
<!-- Pressure -->
<chunk>
<name>
Pressure (hPa)
</name>
<type>
float
</type>
<format>
%.8f
</format>
<node>
/environment/pressure-inhg
</node>
<factor>
33.86389
</factor>
<!-- inhg to hpa -->
</chunk>
</output>
<input>
...
...
@@ -152,28 +187,33 @@
<!-- motors, in range 0.0 to 1.0 -->
<chunk>
<name>
throttle0
</name>
<type>
double
</type>
<type>
float
</type>
<node>
/controls/engines/engine[0]/throttle
</node>
</chunk>
</chunk>
<chunk>
<name>
throttle1
</name>
<type>
double
</type>
<type>
float
</type>
<node>
/controls/engines/engine[1]/throttle
</node>
</chunk>
</chunk>
<chunk>
<name>
throttle2
</name>
<type>
double
</type>
<type>
float
</type>
<node>
/controls/engines/engine[2]/throttle
</node>
</chunk>
</chunk>
<chunk>
<name>
running
</name>
<type>
bool
</type>
<node>
/engines/engine/running
</node>
</chunk>
<chunk>
<name>
throttle3
</name>
<type>
double
</type>
<type>
float
</type>
<node>
/controls/engines/engine[3]/throttle
</node>
</chunk>
</chunk>
</input>
</generic>
</PropertyList>
\ No newline at end of file
</PropertyList>
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment