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57 lines
1.6 KiB
57 lines
1.6 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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single copter simulator class |
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*/ |
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#pragma once |
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#include "SIM_Aircraft.h" |
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#include <AP_Motors/AP_Motors.h> |
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namespace SITL { |
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/* |
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a single copter simulator |
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*/ |
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class SingleCopter : public Aircraft { |
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public: |
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SingleCopter(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 SingleCopter(home_str, frame_str); |
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} |
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private: |
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float terminal_rotation_rate = 4*radians(360.0f); |
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float hover_throttle = 0.65f; |
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float terminal_velocity = 40; |
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float rotor_rot_accel = radians(20) * AP_MOTORS_MATRIX_YAW_FACTOR_CW; |
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float roll_rate_max = radians(700); |
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float pitch_rate_max = radians(700); |
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float yaw_rate_max = radians(700); |
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float thrust_scale; |
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enum { |
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FRAME_SINGLE, |
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FRAME_COAX, |
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} frame_type; |
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}; |
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} // namespace SITL
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