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73 lines
2.0 KiB
73 lines
2.0 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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simulator connection for ardupilot version of Gazebo |
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*/ |
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#ifndef _SIM_GAZEBO_H |
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#define _SIM_GAZEBO_H |
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#include "SIM_Aircraft.h" |
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#include <utility/Socket.h> |
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/* |
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Gazebo simulator |
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*/ |
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class Gazebo : public Aircraft |
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{ |
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public: |
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Gazebo(const char *home_str, 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); |
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/* static object creator */ |
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static Aircraft *create(const char *home_str, const char *frame_str) { |
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return new Gazebo(home_str, frame_str); |
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} |
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private: |
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/* |
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packet sent to Gazebo |
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*/ |
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struct servo_packet { |
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float motor_speed[4]; |
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}; |
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/* |
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reply packet sent from Gazebo to ArduPilot |
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*/ |
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struct fdm_packet { |
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double timestamp; |
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double imu_angular_velocity_rpy[3]; |
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double imu_linear_acceleration_xyz[3]; |
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double imu_orientation_quat[3]; |
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double velocity_xyz[3]; |
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double position_xyz[3]; |
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}; |
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void send_servos_heli(const struct sitl_input &input); |
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void send_servos_fixed_wing(const struct sitl_input &input); |
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void recv_fdm(const struct sitl_input &input); |
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void send_servos(const struct sitl_input &input); |
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bool heli_servos; |
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double last_timestamp; |
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SocketAPM sock; |
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}; |
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#endif // _SIM_GAZEBO_H
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