From 195c811c90f0e658d16f1c6be1cda59adf60d6bb Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Tue, 21 Dec 2010 20:21:00 +0000
Subject: [PATCH] HITL/SITL: Flightgear now works in SITL mode with the current
 stabilization algorithm which includes gyro rates. Upped the rate for
 attitudeactual and attituderaw to a value which makes the stabilization algo
 work properly, will cause trouble on slow machines.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2267 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/hitlnew/fgsimulator.cpp | 9 +++++----
 ground/src/plugins/hitlnew/simulator.cpp   | 9 +++++++--
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ground/src/plugins/hitlnew/fgsimulator.cpp b/ground/src/plugins/hitlnew/fgsimulator.cpp
index e2928dfa9..1efd686cc 100644
--- a/ground/src/plugins/hitlnew/fgsimulator.cpp
+++ b/ground/src/plugins/hitlnew/fgsimulator.cpp
@@ -172,8 +172,9 @@ void FGSimulator::transmitUpdate()
         // Read joystick input
         if(manCtrlData.Armed == ManualControlCommand::ARMED_TRUE)
         {
+            // Note: Pitch sign is reversed in FG ?
             ailerons = manCtrlData.Roll;
-            elevator = manCtrlData.Pitch;
+            elevator = -manCtrlData.Pitch;
             rudder = manCtrlData.Yaw;
             throttle = manCtrlData.Throttle;
         }
@@ -184,7 +185,7 @@ void FGSimulator::transmitUpdate()
         actData = actDesired->getData();
 
         ailerons = actData.Roll;
-        elevator = actData.Pitch;
+        elevator = -actData.Pitch;
         rudder = actData.Yaw;
         throttle = actData.Throttle;
     }
@@ -226,7 +227,7 @@ void FGSimulator::transmitUpdate()
     if(!settings.manual)
     {
         actData.Roll = ailerons;
-        actData.Pitch = elevator;
+        actData.Pitch = -elevator;
         actData.Yaw = rudder;
         actData.Throttle = throttle;
         //actData.NumLongUpdates = (float)udpCounterFGrecv;
@@ -392,7 +393,7 @@ void FGSimulator::processUpdate(const QByteArray& inp)
         rawData.gyros_filtered[0] = rollRate;
         //rawData.gyros_filtered[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate;
         //rawData.gyros_filtered[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate;
-        rawData.gyros_filtered[1] = -pitchRate;
+        rawData.gyros_filtered[1] = pitchRate;
         rawData.gyros_filtered[2] = yawRate;
         attRaw->setData(rawData);
         attRaw->updated();
diff --git a/ground/src/plugins/hitlnew/simulator.cpp b/ground/src/plugins/hitlnew/simulator.cpp
index bdcda50e4..6bb12b015 100644
--- a/ground/src/plugins/hitlnew/simulator.cpp
+++ b/ground/src/plugins/hitlnew/simulator.cpp
@@ -210,12 +210,17 @@ void Simulator::setupObjects()
 {
 	setupInputObject(actDesired, 100);
 	setupOutputObject(altActual, 250);
-	setupOutputObject(attActual, 100);
+        setupOutputObject(attActual, 10);
+        //setupOutputObject(attActual, 100);
         setupOutputObject(gpsPos, 250);
         setupOutputObject(posActual, 250);
         setupOutputObject(velActual, 250);
         setupOutputObject(posHome, 1000);
-        setupOutputObject(attRaw, 100);
+        setupOutputObject(attRaw, 10);
+        //setupOutputObject(attRaw, 100);
+
+
+
 }
 
 void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)