From 0c9badfae931512364d55bc3f410031100846b2e Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Sat, 31 Aug 2024 14:56:25 -0700
Subject: [PATCH] SA: WIP basic SITL model

---
 Tools/autotest/arduplane.py         | 1 +
 Tools/autotest/pysim/vehicleinfo.py | 4 ++++
 libraries/SITL/SIM_Plane.cpp        | 7 +++++++
 3 files changed, 12 insertions(+)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 3ca7780e5ff453..f220e19381b3f8 100644
--- 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
index ca07c51b8f19df..6486730f44e3e9 100644
--- 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
index 82aa8c659d9ee4..406214b986d116 100644
--- 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;