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79 lines
2.1 KiB
79 lines
2.1 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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balloon simulator class |
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*/ |
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#include "SIM_Balloon.h" |
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#include <stdio.h> |
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namespace SITL { |
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Balloon::Balloon(const char *home_str, const char *frame_str) : |
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Aircraft(home_str, frame_str) |
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{ |
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mass = 5.0f; |
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} |
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/* |
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update the balloon simulation by one time step |
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*/ |
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void Balloon::update(const struct sitl_input &input) |
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{ |
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// get wind vector setup |
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update_wind(input); |
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if (!released && input.servos[6] > 1800) { |
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::printf("Balloon released\n"); |
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released = true; |
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} |
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if (!burst && input.servos[7] > 1800) { |
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::printf("Balloon burst\n"); |
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burst = true; |
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} |
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// rotational air resistance |
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Vector3f rot_accel = -gyro * radians(400) / terminal_rotation_rate; |
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// air resistance |
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Vector3f air_resistance = -velocity_air_ef * (GRAVITY_MSS/terminal_velocity); |
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float lift_accel = 0; |
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if (!burst && released) { |
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float air_resistance_at_climb_rate = climb_rate * (GRAVITY_MSS/terminal_velocity); |
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lift_accel = air_resistance_at_climb_rate + GRAVITY_MSS * dcm.c.z; |
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} |
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accel_body = Vector3f(0, 0, -lift_accel); |
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accel_body += dcm.transposed() * air_resistance; |
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update_dynamics(rot_accel); |
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if (position.z < -burst_altitude) { |
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::printf("Balloon burst at %.1f\n", -position.z); |
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burst = true; |
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} |
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// update lat/lon/altitude |
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update_position(); |
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time_advance(); |
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// update magnetic field |
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update_mag_field_bf(); |
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} |
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} // namespace SITL
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