From 68fc719ba9b9ca19e363d6960b5456d70de87e26 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 29 Dec 2013 22:49:59 +0100
Subject: [PATCH] flightgear HIL add catapult to Malolo1
---
files/flightgear/Aircraft/Malolo1/Malolo1-set.xml | 26 ++++++++++++++
files/flightgear/Aircraft/Malolo1/Malolo1.xml | 15 ++++++++
.../flightgear/Aircraft/Malolo1/Nasal/catapult.nas | 42 ++++++++++++++++++++++
.../Aircraft/Malolo1/readme_qgroundcontrol.txt | 3 ++
4 files changed, 86 insertions(+)
create mode 100644 files/flightgear/Aircraft/Malolo1/Nasal/catapult.nas
create mode 100644 files/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt
diff --git a/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml b/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml
index c85509b..67eda11 100644
--- a/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml
+++ b/files/flightgear/Aircraft/Malolo1/Malolo1-set.xml
@@ -63,9 +63,33 @@ dynamics model, and external 3D model.
<line>Approach speed: 15-25 mph</line>
<line>Stall speed (Vs): 10 mph</line>
</help>
+ <menubar>
+ <default>
+ <menu n="10">
+ <label>Malolo</label>
+ <enabled type="bool">true</enabled>
+ <item>
+ <label>Operate catapult</label>
+ <binding>
+ <command>nasal</command>
+ <script>
+ malolo1.launchCatapult();
+ </script>
+ </binding>
+ </item>
+
+ </menu>
+ </default>
+ </menubar>
</sim>
+<nasal>
+ <malolo1>
+ <file>Aircraft/Malolo1/Nasal/catapult.nas</file>
+ </malolo1>
+</nasal>
+
<controls>
<flight>
<aileron-trim>-0.01</aileron-trim> <!-- fixed -->
@@ -100,4 +124,6 @@ dynamics model, and external 3D model.
</config>
</autopilot>
+
+
</PropertyList>
diff --git a/files/flightgear/Aircraft/Malolo1/Malolo1.xml b/files/flightgear/Aircraft/Malolo1/Malolo1.xml
index c12a9ae..a38ff1f 100644
--- a/files/flightgear/Aircraft/Malolo1/Malolo1.xml
+++ b/files/flightgear/Aircraft/Malolo1/Malolo1.xml
@@ -543,4 +543,19 @@
</function>
</axis>
</aerodynamics>
+
+ <external_reactions>
+ <force name="catapult" frame="BODY">
+ <location unit="M">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ <direction>
+ <x>1</x>
+ <y>0</y>
+ <z>0</z>
+ </direction>
+ </force>
+ </external_reactions>
</fdm_config>
diff --git a/files/flightgear/Aircraft/Malolo1/Nasal/catapult.nas b/files/flightgear/Aircraft/Malolo1/Nasal/catapult.nas
new file mode 100644
index 0000000..e576822
--- /dev/null
+++ b/files/flightgear/Aircraft/Malolo1/Nasal/catapult.nas
@@ -0,0 +1,42 @@
+var launchCatapult = func {
+ # time on catapult = 1/10 sec
+ # speed when leaving catapult = 50 km/h ?
+ var countdownRunning = 1;
+ var count = 5;
+ var countdown = func {
+ if (countdownRunning) {
+ if (count != 0) {
+ setprop("/sim/screen/white",count);
+ count = count - 1;
+ settimer(countdown, 1);
+ }
+ else {
+ countdownRunning = 0;
+ setprop("/sim/screen/yellow","Go!");
+ launch();
+ var launchPad = aircraft.door.new("/sim/model/X100/launch-pad", 0.2);
+ launchPad.toggle();
+ }
+ }
+ }
+ countdown();
+
+ var launchRunning = 1;
+ var magnitude = 230; # lbs, unrealisticly high, because the FDM is wrong
+ var launch = func {
+ if (launchRunning) {
+ if (magnitude == 0){
+ launchRunning = 0;
+
+ # remove launcher contact points
+ setprop("/fdm/jsbsim/contact/unit[6]/pos-norm",0);
+ setprop("/fdm/jsbsim/contact/unit[7]/pos-norm",0);
+ setprop("/fdm/jsbsim/contact/unit[8]/pos-norm",0);
+ }
+ setprop("/fdm/jsbsim/external_reactions/catapult/magnitude",magnitude);
+ print (magnitude);
+ magnitude = 0;
+ settimer(launch, 0.1);
+ }
+ }
+}
diff --git a/files/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt b/files/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt
new file mode 100644
index 0000000..a1eb2c4
--- /dev/null
+++ b/files/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt
@@ -0,0 +1,3 @@
+This is the original Malolo1 model with added catapult functionality. The catapult is from https://gitorious.org/mavlab/x100/
+
+-Thomas Gubler