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.
65 lines
2.6 KiB
65 lines
2.6 KiB
/* |
|
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/>. |
|
*/ |
|
/* |
|
sailboat simulator class |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include "SIM_Aircraft.h" |
|
|
|
namespace SITL { |
|
|
|
/* |
|
a sailboat simulator |
|
*/ |
|
class Sailboat : public Aircraft { |
|
public: |
|
Sailboat(const char *home_str, const char *frame_str); |
|
|
|
/* update model by one time step */ |
|
void update(const struct sitl_input &input); |
|
|
|
/* static object creator */ |
|
static Aircraft *create(const char *home_str, const char *frame_str) { |
|
return new Sailboat(home_str, frame_str); |
|
} |
|
|
|
private: |
|
|
|
// calculate the lift and drag as values from 0 to 1 given an apparent wind speed in m/s and angle-of-attack in degrees |
|
void calc_lift_and_drag(float wind_speed, float angle_of_attack_deg, float& lift, float& drag) const; |
|
|
|
// return turning circle (diameter) in meters for steering angle proportion in the range -1 to +1 |
|
float get_turn_circle(float steering) const; |
|
|
|
// return yaw rate in deg/sec given a steering input (in the range -1 to +1) and speed in m/s |
|
float get_yaw_rate(float steering, float speed) const; |
|
|
|
// 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; |
|
|
|
float steering_angle_max; // vehicle steering mechanism's max angle in degrees |
|
float turning_circle; // vehicle minimum turning circle diameter in meters |
|
|
|
// lift and drag curves. index is angle/10deg |
|
// angle-of-attack 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170+ |
|
const float lift_curve[18] = {0.00f, 0.50f, 1.00f, 1.10f, 0.95f, 0.75f, 0.60f, 0.40f, 0.20f, 0.00f, -0.20f, -0.40f, -0.60f, -0.75f, -0.95f, -1.10f, -1.00f, -0.50f}; |
|
const float drag_curve[18] = {0.10f, 0.10f, 0.20f, 0.40f, 0.80f, 1.20f, 1.50f, 1.70f, 1.90f, 1.95f, 1.90f, 1.70f, 1.50f, 1.20f, 0.80f, 0.40f, 0.20f, 0.10f}; |
|
|
|
const float mass = 2.0f; |
|
}; |
|
|
|
} // namespace SITL
|
|
|