SA: WIP basic SITL model

magicrub · Aug 31, 2024 · 0c9badf · 0c9badf
1 parent dbbb366
commit 0c9badf
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diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -4157,6 +4157,7 @@ def FlyEachFrame(self):
             "quadplane-ice" : "needs ICE control channel for ignition",
             "quadplane-can" : "needs CAN periph",
             "stratoblimp" : "not expected to fly normally",
+            "sa_gd2000" : "not expected to fly normally",
             "glider" : "needs balloon lift",
         }
         for frame in sorted(vinfo_options["frames"].keys()):

diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
@@ -372,6 +372,10 @@ def __init__(self):
                 "extra_mavlink_cmds": "module load sitl_calibration;",
                 "external": True,  # lies!  OTOH, hard to take off with this
             },
+            "sa_gd2000": {
+                "waf_target": "bin/arduplane",
+                "default_params_filename": "models/sa_gd2000.parm",
+            },
             "stratoblimp": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/stratoblimp.parm",

diff --git a/libraries/SITL/SIM_Plane.cpp b/libraries/SITL/SIM_Plane.cpp
@@ -98,6 +98,13 @@ Plane::Plane(const char *frame_str) :
         ice_engine = true;
     }
 
+    if (strstr(frame_str, "-sa_gd2000")) {
+        mass = 907.1847; // 2000 lbs == 907.1847 kg
+        thrust_scale *= 0.0001; // no-ish thrust
+        launch_accel = 50;
+        launch_time = 1;
+    }
+
     if (strstr(frame_str, "-soaring")) {
         mass = 2.0;
         coefficient.c_drag_p = 0.05;