ardupilot/libraries/SITL/SIM_BalanceBot.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/>.
*/
/*
BalanceBot simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
namespace SITL {
class BalanceBot : public Aircraft {
public:
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BalanceBot(const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
return NEW_NOTHROW BalanceBot(frame_str);
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}
private:
// vehicle frame x velocity
float velocity_vf_x;
float skid_turn_rate;
float calc_yaw_rate(float steering) const;
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};
} // namespace SITL