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97 lines
2.1 KiB
97 lines
2.1 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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simulate ship takeoff and landing |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#ifndef AP_SIM_SHIP_ENABLED |
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#define AP_SIM_SHIP_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) |
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#endif |
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#if AP_SIM_SHIP_ENABLED |
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#include <AP_HAL/utility/Socket.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_Common/Location.h> |
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namespace SITL { |
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/* |
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a class for individual simulated vehicles |
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*/ |
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class ShipSim; |
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class Ship { |
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friend class ShipSim; |
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private: |
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void update(float delta_t); |
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Vector2f position; |
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float heading_deg; |
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float yaw_rate; |
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float speed; |
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ShipSim *sim; |
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}; |
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class ShipSim { |
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public: |
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friend class Ship; |
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ShipSim(); |
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void update(void); |
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static const struct AP_Param::GroupInfo var_info[]; |
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/* |
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get a ground speed adjustment for a landed vehicle based on |
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whether it is on a ship |
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*/ |
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Vector2f get_ground_speed_adjustment(const Location &loc, float &yaw_rate); |
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private: |
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AP_Int8 enable; |
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AP_Float speed; |
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AP_Float path_size; |
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AP_Float deck_size; |
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AP_Int8 sys_id; |
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AP_Vector3f offset; |
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Location home; |
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const char *target_address = "127.0.0.1"; |
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const uint16_t target_port = 5762; |
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bool initialised; |
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Ship ship; |
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uint32_t last_update_us; |
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// reporting period in ms |
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const float reporting_period_ms = 200; |
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uint32_t last_report_ms; |
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uint32_t last_heartbeat_ms; |
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SocketAPM mav_socket { false }; |
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bool mavlink_connected; |
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void send_report(void); |
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}; |
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} // namespace SITL |
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#endif // AP_SIM_SHIP_ENABLED
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