attempt at fixing xvert

disabling sensors from sih broke it. enabling via param also did not fix everything (why?) therefore, switch in sih.cpp depending on vehicle type. find better sol monday. rebase this away in the end at all costs.
PX4 · Jan 31, 2025 · 7202b97 · 7202b97
1 parent a2a6c35
commit 7202b97
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
@@ -17,6 +17,7 @@ param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
 
 param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0

diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp
@@ -217,10 +217,12 @@ void Sih::sensor_step()
 	reconstruct_sensors_signals(now);
 
 	// if ((_vehicle == VehicleType::FW || _vehicle == VehicleType::TS || _vehicle == VehicleType::SVTOL)
-	//     && now - _airspeed_time >= 50_ms) {
-	// 	_airspeed_time = now;
-	// 	send_airspeed(now);
-	// }
+	// ultra hack. for svtol, SensorAirspeedSim.cpp seems to work. for ts, not. why? find out monday.
+	if ((_vehicle == VehicleType::FW || _vehicle == VehicleType::TS)
+	    && now - _airspeed_time >= 50_ms) {
+		_airspeed_time = now;
+		send_airspeed(now);
+	}
 
 	// distance sensor published at 50 Hz
 	if (now - _dist_snsr_time >= 20_ms