ardupilot/libraries/SITL/SIM_Blimp.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/>.
*/
/*
ROV/AUV/Blimp simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
namespace SITL {
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struct Fins
{
float angle;
float last_angle;
bool dir;
float vel; // velocity, in rad/s
float T; //Tangential (thrust) force, in Neutons
float Fx; //Fx,y,z = Force in bodyframe orientation at servo position, in Newtons
float Fy;
float Fz;
};
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/*
a blimp simulator
*/
class Blimp : public Aircraft {
public:
Blimp(const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *frame_str) {
return new Blimp(frame_str);
}
protected:
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float mass; //kilograms
float radius; //metres
Vector3f moment_of_inertia;
//Airfish-specific variables
Fins fin[4];
float k_tan; //Tangential force multiplier
float drag_constant;
float drag_gyr_constant;
float delta_time;
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
};
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}