Adding new channels to Rascal for SITL with Jsbsim

Albcem · June 20, 2020, 8:58pm

Does anyone know how I can add new channels to the Rascal Jsbsim model? Currently it looks limited to 4 channels on ArduPlane.

Thanks

Albcem · June 26, 2020, 3:13am

Answering my own question: The edit has to be done in the

JSBSim::send_servos function

under

github.com

ArduPilot/ardupilot/blob/master/libraries/SITL/SIM_JSBSim.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  simulator connector for JSBSim
*/

#include "SIM_JSBSim.h"

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You can give any name to the new ArduPilot internal variables but they have to be intelligently assigned to the chosen jsbsim variables, else the mavproxy fails to start and connect properly thinking that there is a new firmware being built.

The maximum number of channels is 8. It looks like channel 8 is reserved for flight mode assignments.