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byu-magicc / rosplane

A basic fixed-wing autopilot for ROS - based on the textbook "Small Unmanned Aircraft: Theory and Practice" by Randy Beard and Tim McLain
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No wind in wind triangle #46

Open gellings opened 7 years ago

gellings commented 7 years ago

We currently don't have wind implemented in the forces and moments (or truth) plugin. The problem is that the body frame wind model (from the book) doesn't work very well for multiple UAVs flight in the same wind. Should we use a world frame wind and rotate it into the body frame inside of the plugin? Does anyone care about this right now?

plusk01 commented 7 years ago

related to https://github.com/byu-magicc/rosflight_plugins/issues/2, https://github.com/byu-magicc/rosflight_plugins/issues/4 and https://github.com/rosflight/rosflight/issues/33

plusk01 commented 7 years ago

Just came across this -- looks like a wind feature has made it into Gazebo 8.

PR: https://bitbucket.org/osrf/gazebo/pull-requests/1985/added-wind-support/diff

Item 38 in the change log: https://bitbucket.org/osrf/gazebo/src/default/Changelog.md?fileviewer=file-view-default

gellings commented 7 years ago

I think the problem is we calculate our own aerodynamic forces and moments according to how it's done in the UAVbook. We could start using the Gazebo aerodynamics instead and see if it works just as good.