mpaperno / jmavsim Goto Github PK

Hi Max!

I think the compass rose is off by 90°, the png points to west and not to north. It can be fixed by either rotate the png by -90° or in code:

@@ -851,3 +851,3 @@ public class Visualizer3D extends JFrame {
             dZ = -Math.atan2(m1.getElement(1, 0), m1.getElement(0, 0)) + Math.toRadians(90.0);
-            affTrans.setToRotation(dZ, halfW, halfW);
+            affTrans.setToRotation(dZ + Math.toRadians(-90.0), halfW, halfW);
             drawg2d.setTransform(affTrans);

Cheers,
Heiko

Hi Max,

just had some time to check jMAVSim with aqfc-mp-v7.1.1919-hwv8.6-quatos-hils. Everything is working until I try to take off. The copter is not flyable an immediately flips into ground. It looks like there is something wrong with my motor mix, but it's hard to tell whats exactly going wrong. It's the same with Quatos and PID.

I used the params file from the wiki, the only changes I made was to disable the gimbals ports, because I have the ESC's connected to them. Maybe the gimbal outputs should be disabled in gimbalInit() / gimbalUpdate() as you did in motorsSendValues() while in SIM mode. I did not disable the gimbal ports at first and ended up with a spinning motor ;)

Here is my complete params file:
PARAMS-HILS.txt

I would be happy if you can give me a hint what's going wrong.

Cheers,
Heiko