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90 lines
2.5 KiB
90 lines
2.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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helicopter simulator class |
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*/ |
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#pragma once |
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#include "SIM_Aircraft.h" |
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namespace SITL { |
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/* |
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a helicopter simulator |
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*/ |
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class Helicopter : public Aircraft { |
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public: |
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Helicopter(const char *frame_str); |
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/* update model by one time step */ |
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void update(const struct sitl_input &input) override; |
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/* static object creator */ |
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static Aircraft *create(const char *frame_str) { |
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return new Helicopter(frame_str); |
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} |
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protected: |
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void update_rotor_dynamics(Vector3f gyros, Vector2f ctrl_pos, Vector2f &tpp_angle, float dt); |
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float update_rpm(bool interlock, float dt); |
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// buffers to provide time delay |
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struct servos_stored { |
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uint16_t servo1; |
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uint16_t servo2; |
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uint16_t servo3; |
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uint16_t servo4; |
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uint16_t servo5; |
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uint16_t servo6; |
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}; |
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uint16_t _servos_delayed[6]; |
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ObjectBuffer<servos_stored> *servos_stored_buffer; |
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void push_to_buffer(const uint16_t servos_input[16]); |
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void pull_from_buffer(uint16_t servos_delayed[6]); |
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private: |
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float terminal_rotation_rate = 4*radians(360.0f); |
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float hover_throttle = 0.5f; |
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float terminal_velocity = 80; |
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float hover_lean = 3.2f; |
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float rotor_rot_accel = radians(20); |
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float roll_rate_max = radians(1400); |
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float pitch_rate_max = radians(1400); |
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float yaw_rate_max = radians(1400); |
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float rsc_setpoint = 0.8f; |
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float izz = 0.2f; |
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float tr_dist = 0.85f; |
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float cyclic_scalar = 7.2; // converts swashplate servo ouputs to cyclic blade pitch |
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float thrust_scale; |
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Vector2f _tpp_angle; |
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float torque_scale; |
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float torque_mpog; |
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float hover_coll = 5.0f; |
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bool motor_interlock; |
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uint8_t _time_delay; |
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enum frame_types { |
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HELI_FRAME_CONVENTIONAL, |
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HELI_FRAME_DUAL, |
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HELI_FRAME_COMPOUND, |
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HELI_FRAME_BLADE360, |
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} frame_type = HELI_FRAME_CONVENTIONAL; |
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bool gas_heli = false; |
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float nominal_rpm; |
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}; |
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} // namespace SITL
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