ardupilot/libraries/SITL/SIM_Rover.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/>.
*/
/*
rover simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
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namespace SITL {
/*
a rover simulator
*/
class SimRover : public Aircraft {
public:
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SimRover(const char *frame_str);
/* update model by one time step */
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void update(const struct sitl_input &input) override;
/* static object creator */
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static Aircraft *create(const char *frame_str) {
return new SimRover(frame_str);
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}
private:
static constexpr float MAX_YAW_RATE = 360.0; // MAX 360 deg/s yaw rate speed to not nuke the ekf gsf
float max_speed = 20.0f; // vehicle's maximum forward speed in m/s
float max_accel = 10.0f; // vehicle's maximum forward acceleration in m/s/s
float max_wheel_turn = 35.0f; // ackermann steering vehicle's maximum steering angle
float turning_circle = 1.8f; // ackermann steering vehicle's minimum turn diameter in meters
float skid_turn_rate = 140.0f; // skid-steering vehicle's maximum turn rate in deg/sec
bool skid_steering; // true if this vehicle is a skid-steering vehicle
// vectored thrust related members
bool vectored_thrust; // true if vehicle uses vectored thrust (i.e. steering controls direction of thrust)
float vectored_angle_max = 90.0f; // maximum angle (in degrees) to which thrust can be turned
float vectored_turn_rate_max = 90.0f; // maximum turn rate (in deg/sec) with full throttle angled at 90deg
float turn_circle(float steering) const;
float calc_yaw_rate(float steering, float speed);
float calc_lat_accel(float steering_angle, float speed);
};
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} // namespace SITL