ardupilot/libraries/SITL/SIM_Frame.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
multicopter simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
#include "SIM_Motor.h"
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namespace SITL {
/*
class to describe a multicopter frame type
*/
class Frame {
public:
const char *name;
uint8_t num_motors;
Motor *motors;
Frame(const char *_name,
uint8_t _num_motors,
Motor *_motors) :
name(_name),
num_motors(_num_motors),
motors(_motors) {}
// find a frame by name
static Frame *find_frame(const char *name);
// initialise frame
void init(const char *frame_str, Battery *_battery);
// calculate rotational and linear accelerations
void calculate_forces(const Aircraft &aircraft,
const struct sitl_input &input,
Vector3f &rot_accel, Vector3f &body_accel, float* rpm,
bool use_drag=true);
float terminal_velocity;
float terminal_rotation_rate;
uint8_t motor_offset;
// calculate current and voltage
void current_and_voltage(float &voltage, float &current);
// get mass in kg
float get_mass(void) const {
return mass;
}
// set mass in kg
void set_mass(float new_mass) {
mass = new_mass;
}
private:
/*
parameters that define the multicopter model. Can be loaded from
a json file to give a custom model
*/
const struct Model {
// model mass kg
float mass = 3.0;
// diameter of model
float diagonal_size = 0.35;
/*
the ref values are for a test at fixed angle, used to estimate drag
*/
float refSpd = 15.08; // m/s
float refAngle = 45; // degrees
float refVoltage = 12.09; // Volts
float refCurrent = 29.3; // Amps
float refAlt = 593; // altitude AMSL
float refTempC = 25; // temperature C
float refBatRes = 0.01; // BAT.Res
// full pack voltage
float maxVoltage = 4.2*3;
// battery capacity in Ah. Use zero for unlimited
float battCapacityAh = 0.0;
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// CTUN.ThO at hover at refAlt
float hoverThrOut = 0.39;
// MOT_THST_EXPO
float propExpo = 0.65;
// scaling factor for yaw response, deg/sec
float refRotRate = 120;
// MOT params are from the reference test
// MOT_PWM_MIN
float pwmMin = 1000;
// MOT_PWM_MAX
float pwmMax = 2000;
// MOT_SPIN_MIN
float spin_min = 0.15;
// MOT_SPIN_MAX
float spin_max = 0.95;
// maximum slew rate of motors
float slew_max = 150;
// rotor disc area in m**2 for 4 x 0.35m dia rotors
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// Note that coaxial rotors count as one rotor only when calculating effective disc area
float disc_area = 0.385;
// momentum drag coefficient
float mdrag_coef = 0.2;
} default_model;
struct Model model;
// exposed area times coefficient of drag
float areaCd;
float mass;
float velocity_max;
float thrust_max;
float effective_prop_area;
Battery *battery;
float last_param_voltage;
// get air density in kg/m^3
float get_air_density(float alt_amsl) const;
// load frame parameters from a json model file
void load_frame_params(const char *model_json);
};
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}