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68 lines
1.7 KiB
68 lines
1.7 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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ROV/AUV/Blimp 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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struct Fins |
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{ |
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float angle; |
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float last_angle; |
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bool dir; |
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float vel; // velocity, in rad/s |
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float T; //Tangential (thrust) force, in Neutons |
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float Fx; //Fx,y,z = Force in bodyframe orientation at servo position, in Newtons |
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float Fy; |
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float Fz; |
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}; |
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/* |
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a blimp simulator |
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*/ |
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class Blimp : public Aircraft { |
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public: |
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Blimp(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 Blimp(frame_str); |
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} |
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protected: |
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float mass; //kilograms |
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float radius; //metres |
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Vector3f moment_of_inertia; |
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//Airfish-specific variables |
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Fins fin[4]; |
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float k_tan; //Tangential force multiplier |
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float drag_constant; |
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float drag_gyr_constant; |
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float delta_time; |
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel); |
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}; |
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}
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