[quadplane] simulator, telemetry and visualizers ---> PR 3173 (#3173)

paparazzi · Nov 11, 2023 · 5c04a35 · 5c04a35
1 parent 8f507c3
commit 5c04a35
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Showing 3 changed files with 17 additions and 7 deletions.
diff --git a/conf/simulator/jsbsim/aircraft/rotwing25.xml b/conf/simulator/jsbsim/aircraft/rotwing25.xml
@@ -159,6 +159,8 @@
     <property>fcs/left_motor_lag</property>
     <property>fcs/rudder</property>
     <property>fcs/elevator</property>
+    <property>fcs/aileron</property>
+    <property>fcs/flaperon</property>
     <property>fcs/pusher</property>
     <property>fcs/pusher_lag</property>
 

diff --git a/conf/telemetry/highspeed_rotorcraft.xml b/conf/telemetry/highspeed_rotorcraft.xml
@@ -46,14 +46,20 @@
       <message name="HYBRID_GUIDANCE"          period="0.4"/>
       <message name="ESC"                      period="0.5"/>
       <message name="AHRS_REF_QUAT"            period="0.1"/>
-      <message name="INS_FLOW_INFO"	           period="0.1"/> 
+      <message name="INS_FLOW_INFO"            period="0.1"/>
       <message name="GPS_RTK"                  period="0.1"/>
+      <message name="AOA"			                 period="0.2"/>
+      <message name="ACTUATORS"                period="0.02"/>
+      <message name="APPROACH_MOVING_TARGET"   period="0.1"/>
       <message name="AIRSPEED_RAW"             period="0.1"/>
-      <message name="ROTATING_WING_STATE"	     period="0.2"/>
+      <message name="TARGET_POS_INFO"          period="0.1"/>
+      <message name="ROTATING_WING_STATE"	 period="0.2"/>
       <message name="ACTUATORS"                period="0.02"/>
       <message name="EFF_MAT_G"                period="0.02"/>
       <message name="GUIDANCE"                 period="0.02"/> 
       <message name="STAB_ATTITUDE"            period="0.02"/>
+      <message name="ROTORCRAFT_CMD"           period="0.2"/>
+      <message name="DEBUG_VECT"               period="0.2"/>
     </mode>
 
     <mode name="calibration">
@@ -112,6 +118,7 @@
       <message name="AHRS_QUAT_INT"      period=".25"/>
       <message name="AHRS_EULER_INT"     period=".1"/>
       <message name="AHRS_EULER"         period=".1"/>
+<!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
     </mode>
 
     <mode name="rate_loop">
@@ -193,6 +200,7 @@
       <message name="ALIVE"                   period="2.1"/>
       <message name="GUIDANCE_H_INT"          period="0.05"/>
       <message name="ROTORCRAFT_TUNE_HOVER"   period=".1"/>
+      <!--<message name="INS3"                    period=".20"/>-->
       <message name="INS_REF"                 period="5.1"/>
     </mode>
 

diff --git a/sw/ground_segment/python/rot_wing_visualizer/rot_wing_vis_o3d_app.py b/sw/ground_segment/python/rot_wing_visualizer/rot_wing_vis_o3d_app.py
@@ -349,12 +349,12 @@ def update_actuator_color(self, name, min_cmd, max_cmd, cmd, transparant = True)
 
     def update_actuator_colors(self):
         # update motors
-        self.update_actuator_color("motor_F", 1000, 8191, self.actuators.get_actuator_value(3))
-        self.update_actuator_color("motor_R", 1000, 8191, self.actuators.get_actuator_value(4))
-        self.update_actuator_color("motor_B", 1000, 8191, self.actuators.get_actuator_value(5))
-        self.update_actuator_color("motor_L", 1000, 8191, self.actuators.get_actuator_value(6))
+        self.update_actuator_color("motor_F", 1000, 8191, self.actuators.get_actuator_value(1))
+        self.update_actuator_color("motor_R", 1000, 8191, self.actuators.get_actuator_value(2))
+        self.update_actuator_color("motor_B", 1000, 8191, self.actuators.get_actuator_value(3))
+        self.update_actuator_color("motor_L", 1000, 8191, self.actuators.get_actuator_value(4))
         # update elevator
-        self.update_actuator_color("ḧor_tail", 8191, -1395, self.actuators.get_actuator_value(8), transparant=False)
+        self.update_actuator_color("ḧor_tail", 8191, -1395, self.actuators.get_actuator_value(6), transparant=False)
 
     def update_fuselage(self):
         self.main_vis.scene.set_geometry_transform("fuselage", self.T_rotation)