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78 lines
2.1 KiB
78 lines
2.1 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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simulator connection for ardupilot version of last_letter |
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*/ |
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#pragma once |
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#include <AP_HAL/utility/Socket.h> |
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#include "SIM_Aircraft.h" |
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namespace SITL { |
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/* |
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a last_letter simulator |
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*/ |
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class last_letter : public Aircraft { |
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public: |
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last_letter(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 last_letter(home_str, frame_str); |
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} |
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private: |
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static const uint16_t fdm_port = 9002; |
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/* |
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packet sent to last_letter |
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*/ |
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struct servo_packet { |
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uint16_t servos[16]; |
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}; |
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/* |
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reply packet sent from last_letter to ArduPilot |
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*/ |
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struct fdm_packet { |
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uint64_t timestamp_us; // simulation time in microseconds |
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double latitude, longitude; |
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double altitude; |
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double heading; |
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double speedN, speedE, speedD; |
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double xAccel, yAccel, zAccel; |
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double rollRate, pitchRate, yawRate; |
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double roll, pitch, yaw; |
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double airspeed; |
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}; |
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void recv_fdm(const struct sitl_input &input); |
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void send_servos(const struct sitl_input &input); |
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void start_last_letter(void); |
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uint64_t last_timestamp_us; |
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SocketAPM sock; |
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const char *frame_str; |
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}; |
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} // namespace SITL
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