2016-10-30 12:34:41 -03:00
|
|
|
/*
|
|
|
|
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/>.
|
|
|
|
*/
|
|
|
|
/*
|
|
|
|
ROV/AUV/Submarine simulator class
|
|
|
|
*/
|
|
|
|
|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
#include "SIM_Aircraft.h"
|
|
|
|
#include "SIM_Motor.h"
|
|
|
|
#include "SIM_Frame.h"
|
|
|
|
|
|
|
|
namespace SITL {
|
|
|
|
|
|
|
|
/*
|
|
|
|
a submarine simulator
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
class Submarine : public Aircraft {
|
|
|
|
public:
|
|
|
|
Submarine(const char *home_str, const char *frame_str);
|
|
|
|
|
|
|
|
/* update model by one time step */
|
2018-11-07 07:02:02 -04:00
|
|
|
void update(const struct sitl_input &input) override;
|
2016-10-30 12:34:41 -03:00
|
|
|
|
|
|
|
/* static object creator */
|
|
|
|
static Aircraft *create(const char *home_str, const char *frame_str) {
|
|
|
|
return new Submarine(home_str, frame_str);
|
|
|
|
}
|
|
|
|
|
2017-03-06 13:52:47 -04:00
|
|
|
|
2016-10-30 12:34:41 -03:00
|
|
|
protected:
|
2017-11-22 12:09:43 -04:00
|
|
|
const float water_density = 1023.6; // (kg/m^3) At a temperature of 25 °C, salinity of 35 g/kg and 1 atm pressure
|
|
|
|
|
2018-10-14 01:36:33 -03:00
|
|
|
const struct {
|
2017-11-22 12:09:43 -04:00
|
|
|
float length = 0.457; // x direction (meters)
|
|
|
|
float width = 0.338; // y direction (meters)
|
|
|
|
float height = 0.254; // z direction (meters)
|
|
|
|
float weight = 10.5; // (kg)
|
2019-03-04 17:19:42 -04:00
|
|
|
float net_buoyancy = 2.0; // (N)
|
2017-11-22 12:09:43 -04:00
|
|
|
|
2019-03-04 17:19:42 -04:00
|
|
|
float buoyancy_acceleration = GRAVITY_MSS + net_buoyancy/weight;
|
2019-03-04 17:18:28 -04:00
|
|
|
|
|
|
|
// Frame drag coefficient
|
|
|
|
const Vector3f linear_drag_coefficient = Vector3f(0.2, 0.3, 0.4);
|
|
|
|
const Vector3f angular_drag_coefficient = Vector3f(1, 1, 1);
|
|
|
|
// Calculate total volume from water buoyancy
|
|
|
|
// $ V = F_b / (rho * g) $
|
|
|
|
// V = volume (m^3), rho = water density (kg/m^3), g = gravity (m/s^2), F_b = force (N)
|
|
|
|
float volume = buoyancy_acceleration * weight / (GRAVITY_MSS * 1023.6f);
|
|
|
|
// Calculate equivalent sphere area for drag force
|
|
|
|
// $ A = pi * r^2 / 4 $
|
|
|
|
// $ V = 4 * pi * r^3 / 3 $
|
|
|
|
// $ r ^2 = (V * 3 / 4) ^ (2/3) $
|
|
|
|
// A = area (m^3), r = sphere radius (m)
|
|
|
|
float equivalent_sphere_area = M_PI_4 * pow(volume * 3.0f / 4.0f, 2.0f / 3.0f);
|
|
|
|
|
2018-10-14 01:36:33 -03:00
|
|
|
} frame_property;
|
2017-03-06 13:52:47 -04:00
|
|
|
|
|
|
|
bool on_ground() const override;
|
|
|
|
|
2016-10-30 12:34:41 -03:00
|
|
|
// calculate rotational and linear accelerations
|
|
|
|
void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
|
2017-11-22 12:09:43 -04:00
|
|
|
// calculate buoyancy
|
|
|
|
float calculate_buoyancy_acceleration();
|
2019-03-04 17:18:28 -04:00
|
|
|
// calculate drag from velocity and drag coefficient
|
|
|
|
void calculate_drag_force(const Vector3f &velocity, const Vector3f &drag_coefficient, Vector3f &force);
|
2017-11-22 12:09:43 -04:00
|
|
|
|
2016-10-30 12:34:41 -03:00
|
|
|
Frame *frame;
|
|
|
|
};
|
|
|
|
|
|
|
|
class Thruster {
|
|
|
|
public:
|
|
|
|
Thruster(int8_t _servo, float roll_fac, float pitch_fac, float yaw_fac, float throttle_fac, float forward_fac, float lat_fac) :
|
|
|
|
servo(_servo)
|
|
|
|
{
|
|
|
|
linear = Vector3f(forward_fac, lat_fac, -throttle_fac);
|
|
|
|
rotational = Vector3f(roll_fac, pitch_fac, yaw_fac);
|
|
|
|
};
|
|
|
|
int8_t servo;
|
|
|
|
Vector3f linear;
|
|
|
|
Vector3f rotational;
|
|
|
|
};
|
|
|
|
}
|