|
|
|
@ -52,6 +52,9 @@ private:
@@ -52,6 +52,9 @@ private:
|
|
|
|
|
// return lateral acceleration in m/s/s given a steering input (in the range -1 to +1) and speed in m/s
|
|
|
|
|
float get_lat_accel(float steering, float speed) const; |
|
|
|
|
|
|
|
|
|
// simulate waves and swell
|
|
|
|
|
void update_wave(float delta_time); |
|
|
|
|
|
|
|
|
|
float steering_angle_max; // vehicle steering mechanism's max angle in degrees
|
|
|
|
|
float turning_circle; // vehicle minimum turning circle diameter in meters
|
|
|
|
|
|
|
|
|
@ -63,13 +66,9 @@ private:
@@ -63,13 +66,9 @@ private:
|
|
|
|
|
const float mass = 2.0f; |
|
|
|
|
|
|
|
|
|
Vector3f velocity_ef_water; // m/s
|
|
|
|
|
|
|
|
|
|
// simulate basic waves / swell
|
|
|
|
|
void update_wave(float delta_time); |
|
|
|
|
Vector3f wave_gyro; // rad/s
|
|
|
|
|
float wave_heave; // m/s/s
|
|
|
|
|
float wave_phase; // rads
|
|
|
|
|
|
|
|
|
|
Vector3f wave_gyro; // rad/s
|
|
|
|
|
float wave_heave; // m/s/s
|
|
|
|
|
float wave_phase; // rads
|
|
|
|
|
}; |
|
|
|
|
|
|
|
|
|
} // namespace SITL
|
|
|
|
|