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wind addition to advanced_lift_drag plugin #2226

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merged 2 commits into from
Nov 9, 2023
Merged

wind addition to advanced_lift_drag plugin #2226

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22ad34f
wind addition to advanced_lift_drag plugin
frede791 Nov 3, 2023
45fa61b
added note on wind
frede791 Nov 8, 2023
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14 changes: 13 additions & 1 deletion src/systems/advanced_lift_drag/AdvancedLiftDrag.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@
#include "gz/sim/components/Name.hh"
#include "gz/sim/components/ExternalWorldWrenchCmd.hh"
#include "gz/sim/components/Pose.hh"
#include "gz/sim/components/Wind.hh"

using namespace gz;
using namespace sim;
Expand Down Expand Up @@ -481,6 +482,13 @@ void AdvancedLiftDragPrivate::Update(EntityComponentManager &_ecm)
const auto worldPose =
_ecm.Component<components::WorldPose>(this->linkEntity);

// get wind as a component from the _ecm
components::WorldLinearVelocity *windLinearVel = nullptr;
if(_ecm.EntityByComponents(components::Wind()) != kNullEntity){
Entity windEntity = _ecm.EntityByComponents(components::Wind());
windLinearVel =
_ecm.Component<components::WorldLinearVelocity>(windEntity);
}

std::vector<components::JointPosition*> controlJointPosition_vec(
this->num_ctrl_surfaces);
Expand All @@ -499,8 +507,12 @@ void AdvancedLiftDragPrivate::Update(EntityComponentManager &_ecm)

const auto &pose = worldPose->Data();
const auto cpWorld = pose.Rot().RotateVector(this->cp);
const auto air_velocity = worldLinVel->Data() + worldAngVel->Data().Cross(
auto air_velocity = worldLinVel->Data() + worldAngVel->Data().Cross(
cpWorld);
if (windLinearVel != nullptr){
air_velocity = worldLinVel->Data() + worldAngVel->Data().Cross(
cpWorld) - windLinearVel->Data();
}

// Define body frame: X forward, Z downward, Y out the right wing
gz::math::Vector3d body_x_axis = pose.Rot().RotateVector(this->forward);
Expand Down
2 changes: 2 additions & 0 deletions src/systems/advanced_lift_drag/AdvancedLiftDrag.hh
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Expand Up @@ -44,6 +44,8 @@ namespace systems
/// https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/
/// gz/tools/avl_automation/
///
/// Note: Wind calculations can be enabled by setting the wind parameter
/// in the world file.
///
/// ## System Parameters
///
Expand Down