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SITL: Changed Rover to SimRover

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this avoids the rover crash in master
This commit is contained in:
Andrew Tridgell 2015-10-21 22:03:55 +11:00
parent b08817554e
commit 05876b7e1b
2 changed files with 8 additions and 8 deletions
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10
libraries/SITL/SIM_Rover.cpp
View File

@ -26,7 +26,7 @@
/* /*
constructor constructor
*/ */
Rover::Rover(const char *home_str, const char *frame_str) : SimRover::SimRover(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str), Aircraft(home_str, frame_str),
max_speed(20), max_speed(20),
max_accel(30), max_accel(30),
@ -52,7 +52,7 @@ Rover::Rover(const char *home_str, const char *frame_str) :
/* /*
return turning circle (diameter) in meters for steering angle proportion in degrees return turning circle (diameter) in meters for steering angle proportion in degrees
*/ */
float Rover::turn_circle(float steering) float SimRover::turn_circle(float steering)
{ {
if (fabsf(steering) < 1.0e-6) { if (fabsf(steering) < 1.0e-6) {
return 0; return 0;
@ -63,7 +63,7 @@ float Rover::turn_circle(float steering)
/* /*
return yaw rate in degrees/second given steering_angle and speed return yaw rate in degrees/second given steering_angle and speed
*/ */
float Rover::calc_yaw_rate(float steering, float speed) float SimRover::calc_yaw_rate(float steering, float speed)
{ {
if (skid_steering) { if (skid_steering) {
return steering * skid_turn_rate; return steering * skid_turn_rate;
@ -81,7 +81,7 @@ float Rover::calc_yaw_rate(float steering, float speed)
/* /*
return lateral acceleration in m/s/s return lateral acceleration in m/s/s
*/ */
float Rover::calc_lat_accel(float steering_angle, float speed) float SimRover::calc_lat_accel(float steering_angle, float speed)
{ {
float yaw_rate = calc_yaw_rate(steering_angle, speed); float yaw_rate = calc_yaw_rate(steering_angle, speed);
float accel = radians(yaw_rate) * speed; float accel = radians(yaw_rate) * speed;
@ -91,7 +91,7 @@ float Rover::calc_lat_accel(float steering_angle, float speed)
/* /*
update the rover simulation by one time step update the rover simulation by one time step
*/ */
void Rover::update(const struct sitl_input &input) void SimRover::update(const struct sitl_input &input)
{ {
float steering, throttle; float steering, throttle;

6
libraries/SITL/SIM_Rover.h
View File

@ -25,17 +25,17 @@
/* /*
a rover simulator a rover simulator
*/ */
class Rover : public Aircraft class SimRover : public Aircraft
{ {
public: public:
Rover(const char *home_str, const char *frame_str); SimRover(const char *home_str, const char *frame_str);
/* update model by one time step */ /* update model by one time step */
void update(const struct sitl_input &input); void update(const struct sitl_input &input);
/* static object creator */ /* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) { static Aircraft *create(const char *home_str, const char *frame_str) {
return new Rover(home_str, frame_str); return new SimRover(home_str, frame_str);
} }
private: private: