ardupilot/libraries/SITL/SIM_Helicopter.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
/*
helicopter simulator class
*/
#ifndef _SIM_HELICOPTER_H
#define _SIM_HELICOPTER_H
#include "SIM_Aircraft.h"
/*
a helicopter simulator
*/
class Helicopter : public Aircraft
{
public:
Helicopter(const char *home_str, const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input);
/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
return new Helicopter(home_str, frame_str);
}
private:
float terminal_rotation_rate;
float hover_throttle;
float terminal_velocity;
float hover_lean;
float yaw_zero;
float rotor_rot_accel;
float roll_rate_max;
float pitch_rate_max;
float yaw_rate_max;
float rsc_setpoint;
float thrust_scale;
float tail_thrust_scale;
};
#endif // _SIM_HELICOPTER_H