mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
C
48 lines
1.3 KiB
C
|
/*
|
||
|
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/>.
|
||
|
*/
|
||
|
/*
|
||
|
BalanceBot simulator class
|
||
|
*/
|
||
|
|
||
|
#pragma once
|
||
|
|
||
|
#include "SIM_Aircraft.h"
|
||
|
|
||
|
namespace SITL {
|
||
|
|
||
|
class BalanceBot : public Aircraft {
|
||
|
public:
|
||
|
BalanceBot(const char *home_str, const char *frame_str);
|
||
|
|
||
|
/* update model by one time step */
|
||
|
void update(const struct sitl_input &input);
|
||
|
|
||
|
/* static object creator */
|
||
|
static Aircraft *create(const char *home_str, const char *frame_str) {
|
||
|
return new BalanceBot(home_str, frame_str);
|
||
|
}
|
||
|
|
||
|
private:
|
||
|
// vehicle frame x velocity
|
||
|
float velocity_vf_x;
|
||
|
|
||
|
float max_speed;
|
||
|
float skid_turn_rate;
|
||
|
|
||
|
float calc_yaw_rate(float steering);
|
||
|
};
|
||
|
|
||
|
} // namespace SITL
|