From 7202b973bb47175b17109a34d1e74078f8f8d0fa Mon Sep 17 00:00:00 2001 From: Balduin Date: Fri, 31 Jan 2025 17:02:14 +0100 Subject: [PATCH] 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. --- .../init.d-posix/airframes/10042_sihsim_xvert | 1 + src/modules/simulation/simulator_sih/sih.cpp | 10 ++++++---- 2 files changed, 7 insertions(+), 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 index eac28c8cdb5a..a64476797323 100644 --- 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 index b7c6516300d9..26840a8b2899 100644 --- 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