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(float mass, float hover_throttle, float terminal_velocity, float terminal_rotation_rate);
// calculate rotational and linear accelerations
void calculate_forces(const Aircraft &aircraft,
const struct sitl_input &input,
Vector3f &rot_accel, Vector3f &body_accel);
float terminal_velocity;
float terminal_rotation_rate;
float thrust_scale;
uint8_t motor_offset;
// calculate current and voltage
void current_and_voltage(const struct sitl_input &input, float &voltage, float &current);
};
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}