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80 lines
2.6 KiB
80 lines
2.6 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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simple electric motor simulation 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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/* |
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class to describe a motor position |
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*/ |
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class Motor { |
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public: |
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float angle; |
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float yaw_factor; |
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uint8_t servo; |
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uint8_t display_order; |
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// support for tilting motors |
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int8_t roll_servo = -1; |
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float roll_min, roll_max; |
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int8_t pitch_servo = -1; |
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float pitch_min, pitch_max; |
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// support for servo slew rate |
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enum {SERVO_NORMAL, SERVO_RETRACT} servo_type; |
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float servo_rate = 0.24; // seconds per 60 degrees |
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uint64_t last_change_usec; |
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float last_roll_value, last_pitch_value; |
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) : |
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servo(_servo), // what servo output drives this motor |
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angle(_angle), // angle in degrees from front |
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yaw_factor(_yaw_factor), // positive is clockwise |
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display_order(_display_order) // order for clockwise display |
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{} |
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/* |
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alternative constructor for tiltable motors |
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*/ |
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order, |
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int8_t _roll_servo, float _roll_min, float _roll_max, |
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int8_t _pitch_servo, float _pitch_min, float _pitch_max) : |
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servo(_servo), // what servo output drives this motor |
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angle(_angle), // angle in degrees from front |
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yaw_factor(_yaw_factor), // positive is clockwise |
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display_order(_display_order), // order for clockwise display |
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roll_servo(_roll_servo), |
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roll_min(_roll_min), |
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roll_max(_roll_max), |
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pitch_servo(_pitch_servo), |
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pitch_min(_pitch_min), |
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pitch_max(_pitch_max) |
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{} |
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void calculate_forces(const struct sitl_input &input, |
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float thrust_scale, |
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uint8_t motor_offset, |
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Vector3f &rot_accel, // rad/sec |
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Vector3f &body_thrust); // Z is down |
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uint16_t update_servo(uint16_t demand, uint64_t time_usec, float &last_value); |
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}; |
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}
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