ardupilot/libraries/SITL/SIM_Helicopter.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/>.
*/
/*
helicopter simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
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namespace SITL {
/*
a helicopter simulator
*/
class Helicopter : public Aircraft {
public:
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Helicopter(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 Helicopter(frame_str);
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}
protected:
void update_rotor_dynamics(Vector3f gyros, Vector2f ctrl_pos, Vector2f &tpp_angle, float dt);
float update_rpm(bool interlock, float dt);
// buffers to provide time delay
struct servos_stored {
uint16_t servo1;
uint16_t servo2;
uint16_t servo3;
uint16_t servo4;
uint16_t servo5;
uint16_t servo6;
};
uint16_t _servos_delayed[6];
ObjectBuffer<servos_stored> *servos_stored_buffer;
void push_to_buffer(const uint16_t servos_input[16]);
void pull_from_buffer(uint16_t servos_delayed[6]);
private:
float terminal_rotation_rate = 4*radians(360.0f);
float hover_throttle = 0.5f;
float terminal_velocity = 80;
float hover_lean = 3.2f;
float yaw_zero = 0.1f;
float rotor_rot_accel = radians(20);
float roll_rate_max = radians(1400);
float pitch_rate_max = radians(1400);
float yaw_rate_max = radians(1400);
float rsc_setpoint = 0.8f;
float izz = 0.2f;
float tr_dist = 0.85f;
float tr_accel_max = 50.0f; //rad/s/s
float cyclic_scalar = 7.2; // converts swashplate servo ouputs to cyclic blade pitch
float thrust_scale;
float tail_thrust_scale;
Vector2f _tpp_angle;
float torque_scale;
float torque_mpog;
float hover_coll = 5.0f;
bool motor_interlock;
uint8_t _time_delay = 30;
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enum frame_types {
HELI_FRAME_CONVENTIONAL,
HELI_FRAME_DUAL,
HELI_FRAME_COMPOUND
} frame_type = HELI_FRAME_CONVENTIONAL;
bool gas_heli = false;
};
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} // namespace SITL