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84 lines
2.1 KiB
84 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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multicopter simulator class |
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*/ |
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#ifndef _SIM_MULTICOPTER_H |
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#define _SIM_MULTICOPTER_H |
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#include "SIM_Aircraft.h" |
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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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bool clockwise; |
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uint8_t servo; |
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Motor(float _angle, bool _clockwise, uint8_t _servo) : |
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angle(_angle), // angle in degrees from front |
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clockwise(_clockwise), // clockwise == true, anti-clockwise == false |
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servo(_servo) // what servo output drives this motor |
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{} |
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}; |
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/* |
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class to describe a multicopter frame type |
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*/ |
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class Frame { |
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public: |
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const char *name; |
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uint8_t num_motors; |
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const Motor *motors; |
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Frame(const char *_name, |
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uint8_t _num_motors, |
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const Motor *_motors) : |
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name(_name), |
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num_motors(_num_motors), |
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motors(_motors) {} |
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}; |
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/* |
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a multicopter simulator |
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*/ |
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class MultiCopter : public Aircraft |
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{ |
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public: |
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MultiCopter(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 MultiCopter(home_str, frame_str); |
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} |
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private: |
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const Frame *frame; |
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float hover_throttle; // 0..1 |
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float terminal_velocity; // m/s |
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const float terminal_rotation_rate; |
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float thrust_scale; |
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}; |
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#endif // _SIM_MULTICOPTER_H
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