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100 lines
2.8 KiB
100 lines
2.8 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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#pragma once |
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#include "SIM_Aircraft.h" |
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namespace SITL { |
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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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float yaw_factor; |
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uint8_t servo; |
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uint8_t display_order; |
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) : |
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servo(_servo), // what servo output drives this motor |
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angle(_angle), // angle in degrees from front |
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yaw_factor(_yaw_factor), // positive is clockwise |
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display_order(_display_order) // order for clockwise display |
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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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// find a frame by name |
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static Frame *find_frame(const char *name); |
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// initialise frame |
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void init(float mass, float hover_throttle, float terminal_velocity, float terminal_rotation_rate); |
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// calculate rotational and linear accelerations |
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void calculate_forces(const Aircraft &aircraft, |
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const Aircraft::sitl_input &input, |
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Vector3f &rot_accel, Vector3f &body_accel); |
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float terminal_velocity; |
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float terminal_rotation_rate; |
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float thrust_scale; |
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float mass; |
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uint8_t motor_offset; |
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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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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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protected: |
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// calculate rotational and linear accelerations |
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel); |
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Frame *frame; |
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}; |
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} // namespace SITL
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