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.
80 lines
2.3 KiB
80 lines
2.3 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/>. |
|
*/ |
|
/* |
|
ROV/AUV/Submarine simulator class |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include "SIM_Aircraft.h" |
|
#include "SIM_Motor.h" |
|
#include "SIM_Frame.h" |
|
|
|
namespace SITL { |
|
|
|
/* |
|
a submarine simulator |
|
*/ |
|
|
|
|
|
class Submarine : public Aircraft { |
|
public: |
|
Submarine(const char *home_str, const char *frame_str); |
|
|
|
/* update model by one time step */ |
|
void update(const struct sitl_input &input) override; |
|
|
|
/* static object creator */ |
|
static Aircraft *create(const char *home_str, const char *frame_str) { |
|
return new Submarine(home_str, frame_str); |
|
} |
|
|
|
|
|
protected: |
|
const float water_density = 1023.6; // (kg/m^3) At a temperature of 25 °C, salinity of 35 g/kg and 1 atm pressure |
|
|
|
const struct { |
|
float length = 0.457; // x direction (meters) |
|
float width = 0.338; // y direction (meters) |
|
float height = 0.254; // z direction (meters) |
|
float weight = 10.5; // (kg) |
|
float net_bouyancy = 2.0; // (N) |
|
|
|
float bouyancy_acceleration = GRAVITY_MSS + net_bouyancy/weight; |
|
} frame_property; |
|
|
|
bool on_ground() const override; |
|
|
|
// calculate rotational and linear accelerations |
|
void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel); |
|
// calculate buoyancy |
|
float calculate_buoyancy_acceleration(); |
|
|
|
Frame *frame; |
|
}; |
|
|
|
class Thruster { |
|
public: |
|
Thruster(int8_t _servo, float roll_fac, float pitch_fac, float yaw_fac, float throttle_fac, float forward_fac, float lat_fac) : |
|
servo(_servo) |
|
{ |
|
linear = Vector3f(forward_fac, lat_fac, -throttle_fac); |
|
rotational = Vector3f(roll_fac, pitch_fac, yaw_fac); |
|
}; |
|
int8_t servo; |
|
Vector3f linear; |
|
Vector3f rotational; |
|
}; |
|
}
|
|
|