SITL: add tests for ICE Planes

libraries/SITL/SIM_ICEngine.cpp

@@ -30,6 +30,9 @@ float ICEngine::update(const struct sitl_input &input)
     bool have_choke = choke_servo>=0;
     bool have_starter = starter_servo>=0;
     float throttle_demand = (input.servos[throttle_servo]-1000) * 0.001f;
+    if (throttle_reversed) {
+        throttle_demand = 1 - throttle_demand;
+    }
 
     state.ignition = have_ignition?input.servos[ignition_servo]>1700:true;
     state.choke = have_choke?input.servos[choke_servo]>1700:false;

libraries/SITL/SIM_ICEngine.h

@@ -30,12 +30,13 @@ public:
     const int8_t starter_servo;
     const float slew_rate; // percent-per-second
 
-    ICEngine(uint8_t _throttle, int8_t _choke, int8_t _ignition, int8_t _starter, float _slew_rate) :
+    ICEngine(uint8_t _throttle, int8_t _choke, int8_t _ignition, int8_t _starter, float _slew_rate, bool _throttle_reversed) :
         throttle_servo(_throttle),
         choke_servo(_choke),
         ignition_servo(_ignition),
         starter_servo(_starter),
-        slew_rate(_slew_rate)
+        slew_rate(_slew_rate),
+        throttle_reversed(_throttle_reversed)
     {}
 
     // update motor state
@@ -54,5 +55,6 @@ private:
         uint8_t value;
     } state, last_state;
     bool overheat:1;
+    bool throttle_reversed;
 };
 }

libraries/SITL/SIM_Plane.h

@@ -115,7 +115,8 @@ protected:
         choke_servo,
         ignition_servo,
         starter_servo,
-        slewrate
+        slewrate,
+        true
     };
 
     float liftCoeff(float alpha) const;