You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
66 lines
1.8 KiB
66 lines
1.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
simple quadplane simulator class |
|
*/ |
|
|
|
#include "SIM_QuadPlane.h" |
|
|
|
#include <stdio.h> |
|
|
|
using namespace SITL; |
|
|
|
static const Motor quad_motors[4] = |
|
{ |
|
Motor(45, false, 5), |
|
Motor(225, false, 6), |
|
Motor(315, true, 7), |
|
Motor(135, true, 8) |
|
}; |
|
|
|
static Frame quad_frame("x", 4, quad_motors); |
|
|
|
QuadPlane::QuadPlane(const char *home_str, const char *frame_str) : |
|
Plane(home_str, frame_str) |
|
{ |
|
frame = &quad_frame; |
|
// we use a very high terminal velocity to let the plane model handle the drag |
|
frame->init(mass, 0.51, 100, 20*radians(360)); |
|
} |
|
|
|
/* |
|
update the quadplane simulation by one time step |
|
*/ |
|
void QuadPlane::update(const struct sitl_input &input) |
|
{ |
|
// first plane forces |
|
Vector3f rot_accel; |
|
calculate_forces(input, rot_accel, accel_body); |
|
|
|
// now quad forces |
|
Vector3f quad_rot_accel; |
|
Vector3f quad_accel_body; |
|
|
|
frame->calculate_forces(*this, input, quad_rot_accel, quad_accel_body); |
|
|
|
rot_accel += quad_rot_accel; |
|
accel_body += quad_accel_body; |
|
|
|
update_dynamics(rot_accel); |
|
|
|
// update lat/lon/altitude |
|
update_position(); |
|
}
|
|
|