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byu-magicc / rosflight_plugins

Container for basic sensors needed for Gazebo simulation.
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Simulated Wind #2

Open plusk01 opened 7 years ago

plusk01 commented 7 years ago

Right now the GPS plugin doesn't take wind into account whereas the UAV book does. I think there was a discussion on this before, but I don't know what the resolution was @gellings @superjax.

plusk01 commented 7 years ago

Airspeed also doesn't actually have wind

plusk01 commented 7 years ago

We need to decide on what to do about inertial frame vs body-fixed frame wind

From airspeed_plugin.cpp:115:

  /// TODO: Wind is being applied in the inertial frame, not the body-fixed frame
  double ur = u - wind_.N;
  double vr = v - wind_.E;
  double wr = w - wind_.D;
//  double Va = sqrt(pow(ur,2.0) + pow(vr,2.0) + pow(wr,2.0));
  double Va = sqrt(pow(u,2.0) + pow(v,2.0) + pow(w,2.0));