Tools: Optionally include AP_SIM_GLIDER_ENABLED on SIH

ArduPilot · Jul 18, 2024 · ac5101d · ac5101d
1 parent 0901ae7
commit ac5101d
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/Tools/scripts/sitl-on-hardware/sitl-on-hw.py b/Tools/scripts/sitl-on-hardware/sitl-on-hw.py
@@ -66,6 +66,8 @@ def sohw_path(fname):
     defaults_write(open(args.defaults,"r").read() + "\n")
 
 if args.simclass:
+    if args.simclass == 'Glider':
+        hwdef_write("define AP_SIM_GLIDER_ENABLED 1\n")
     hwdef_write("define AP_SIM_FRAME_CLASS %s\n" % args.simclass)
 if args.frame:
     hwdef_write('define AP_SIM_FRAME_STRING "%s"\n' % args.frame)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
@@ -181,7 +181,7 @@ void Aircraft::update_position(void)
         uint32_t now = AP_HAL::millis();
         if (now - last_one_hz_ms >= 1000) {
             // shift origin of position at 1Hz to current location
-            // this prevents sperical errors building up in the GPS data
+            // this prevents spherical errors building up in the GPS data
             last_one_hz_ms = now;
             Vector2d diffNE = origin.get_distance_NE_double(location);
             position.xy() -= diffNE;

diff --git a/libraries/SITL/SIM_Glider.cpp b/libraries/SITL/SIM_Glider.cpp
@@ -231,7 +231,7 @@ void Glider::calculate_forces(const struct sitl_input &input, Vector3f &rot_acce
     float aileron  = 0.5*(filtered_servo_angle(input, 1) + filtered_servo_angle(input, 4));
     float elevator = filtered_servo_angle(input, 2);
     float rudder   = filtered_servo_angle(input, 3);
-    float balloon  = filtered_servo_range(input, 5);
+    float balloon  = MAX(0.0f, filtered_servo_range(input, 5)); // Don't let the balloon receive downwards commands.
     float balloon_cut = filtered_servo_range(input, 9);
 
     // Move balloon upwards using balloon velocity from channel 6
@@ -241,7 +241,7 @@ void Glider::calculate_forces(const struct sitl_input &input, Vector3f &rot_acce
         balloon_velocity = Vector3f(-wind_ef.x, -wind_ef.y, -wind_ef.z -balloon_rate * balloon);
         balloon_position += balloon_velocity * (1.0e-6 * (float)frame_time_us);
         const float height_AMSL = 0.01f * (float)home.alt - position.z;
-        // release at burst height or when channel 9 goes high
+        // release at burst height or when baloon cut output goes high
         if (hal.scheduler->is_system_initialized() &&
             (height_AMSL > balloon_burst_amsl || balloon_cut > 0.8)) {
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "pre-release at %i m AMSL\n", (int)height_AMSL);
@@ -380,7 +380,7 @@ bool Glider::update_balloon(float balloon, Vector3f &force, Vector3f &rot_accel)
     // NED unit vector pointing from tether attachment on plane to attachment on balloon
     Vector3f tether_unit_vec_ef = relative_position.normalized();
 
-    // NED velocity of attahment point on plane
+    // NED velocity of attachment point on plane
     Vector3f attachment_velocity_ef = velocity_ef + dcm * (gyro % tether_pos_bf);
 
     // NED velocity of attachment point on balloon as seen by observer on attachemnt point on plane