mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.2 KiB
C
81 lines
2.2 KiB
C
|
/// -*- 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/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
simulator connection for ardupilot version of CRRCSim
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _SIM_CRRCSIM_H
|
||
|
|
#define _SIM_CRRCSIM_H
|
||
|
|
|
||
|
|
#include "SIM_Aircraft.h"
|
||
|
|
#include <utility/Socket.h>
|
||
|
|
|
||
|
|
/*
|
||
|
|
a CRRCSim simulator
|
||
|
|
*/
|
||
|
|
class CRRCSim : public Aircraft
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
CRRCSim(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 CRRCSim(home_str, frame_str);
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
/*
|
||
|
|
packet sent to CRRCSim
|
||
|
|
*/
|
||
|
|
struct servo_packet {
|
||
|
|
float roll_rate;
|
||
|
|
float pitch_rate;
|
||
|
|
float throttle;
|
||
|
|
float yaw_rate;
|
||
|
|
float col_pitch;
|
||
|
|
};
|
||
|
|
|
||
|
|
/*
|
||
|
|
reply packet sent from CRRCSim to ArduPilot
|
||
|
|
*/
|
||
|
|
struct fdm_packet {
|
||
|
|
double timestamp;
|
||
|
|
double latitude, longitude;
|
||
|
|
double altitude;
|
||
|
|
double heading;
|
||
|
|
double speedN, speedE, speedD;
|
||
|
|
double xAccel, yAccel, zAccel;
|
||
|
|
double rollRate, pitchRate, yawRate;
|
||
|
|
double roll, pitch, yaw;
|
||
|
|
double airspeed;
|
||
|
|
};
|
||
|
|
|
||
|
|
void send_servos_heli(const struct sitl_input &input);
|
||
|
|
void send_servos_fixed_wing(const struct sitl_input &input);
|
||
|
|
void recv_fdm(const struct sitl_input &input);
|
||
|
|
void send_servos(const struct sitl_input &input);
|
||
|
|
|
||
|
|
bool heli_servos;
|
||
|
|
double last_timestamp;
|
||
|
|
SocketAPM sock;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#endif // _SIM_CRRCSIM_H
|