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support for vtol simulation

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This commit is contained in:
tumbili
2015-11-18 13:29:23 +01:00
parent 2f0b24feab
commit 354e623318
2 changed files with 3 additions and 3 deletions
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2
Tools/sitl_gazebo

Submodule Tools/sitl_gazebo updated: d704f43029...d7b4fcfabd

4
src/modules/simulator/simulator_mavlink.cpp
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@@ -80,7 +80,7 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
// for now we only support quadrotors
unsigned n = 4;
if (_vehicle_status.is_rotary_wing) {
if (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) {
for (unsigned i = 0; i < 8; i++) {
if (_actuators.output[i] > PWM_LOWEST_MIN / 2) {
if (i < n) {
@@ -113,7 +113,7 @@ void Simulator::pack_actuator_message(mavlink_hil_controls_t &actuator_msg)
actuator_msg.time_usec = hrt_absolute_time();
actuator_msg.roll_ailerons = out[0];
actuator_msg.pitch_elevator = _vehicle_status.is_rotary_wing ? out[1] : -out[1];
actuator_msg.pitch_elevator = (_vehicle_status.is_rotary_wing || _vehicle_status.is_vtol) ? out[1] : -out[1];
actuator_msg.yaw_rudder = out[2];
actuator_msg.throttle = out[3];
actuator_msg.aux1 = out[4];