Enable user defined IMU Parameters from JSBSim #24
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…into pr-imu-xml-mapping � Conflicts: � models/quadrotor_x/quadrotor_x.xml
bkueng
reviewed
Oct 15, 2020
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| <location unit="M"> | ||
| <x> 0 </x> | ||
| <y> 0 </y> | ||
| <z> 0.345 </z> | ||
| </location> |
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Is there a way to avoid duplicating this for the other axes?
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I believe this is a constraint of the JSBSim accelerometer function. There are a few functions that allow XML variables to be passed so that you could accomplish something like this where the property is declared once:
<x> <property> px4/imu/loc_x </property> </x>
<y> <property> px4/imu/loc_y </property> </y>
<z> <property> px4/imu/loc_z </property> </z>I dug into the backend of JSBSim (and tried a few combination of the above) and unfortunately the only input it accepts are numeric.
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Ok, let's keep it as is then.
bkueng
approved these changes
Oct 16, 2020
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| <location unit="M"> | ||
| <x> 0 </x> | ||
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| <z> 0.345 </z> | ||
| </location> |
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Ok, let's keep it as is then.
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@Jaeyoung-Lim this proposal enables the user to map custom JSBSim IMU parameters via the bridge configuration file and JSBSim system definition file. When configuration definition is not provided it will default to the "standard" inputs / behaviors. Additionally this addresses #15 by adding comments to the source and by providing user configurable location and orientation of sensors.