diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp new file mode 100644 index 0000000000..66df4829b6 --- /dev/null +++ b/libraries/SITL/SIM_Frame.cpp @@ -0,0 +1,171 @@ +/// -*- 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 . + */ +/* + multicopter frame simulator class +*/ + +#include "SIM_Frame.h" +#include + +#include + +using namespace SITL; + +static const Motor quad_plus_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), + Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), + Motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), + Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3), +}; + +static const Motor quad_x_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), + Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), + Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), +}; + +static const Motor hexa_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), + Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), + Motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5), + Motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), + Motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6), + Motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3) +}; + +static const Motor hexax_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), + Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), + Motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6), + Motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), + Motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4) +}; + +static const Motor octa_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), + Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5), + Motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), + Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), + Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8), + Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6), + Motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7), + Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3) +}; + +static const Motor octa_quad_motors[] = +{ + Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), + Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7), + Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), + Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3), + Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8), + Motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), + Motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), + Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6) +}; + +/* + table of supported frame types + */ +static Frame supported_frames[] = +{ + Frame("+", 4, quad_plus_motors), + Frame("quad", 4, quad_plus_motors), + Frame("copter", 4, quad_plus_motors), + Frame("x", 4, quad_x_motors), + Frame("hexa", 6, hexa_motors), + Frame("hexax", 6, hexax_motors), + Frame("octa", 8, octa_motors), + Frame("octa-quad", 8, octa_quad_motors) +}; + +void Frame::init(float _mass, float hover_throttle, float _terminal_velocity, float _terminal_rotation_rate) +{ + mass = _mass; + + /* + scaling from total motor power to Newtons. Allows the copter + to hover against gravity when each motor is at hover_throttle + */ + thrust_scale = (mass * GRAVITY_MSS) / (num_motors * hover_throttle); + + terminal_velocity = _terminal_velocity; + terminal_rotation_rate = _terminal_rotation_rate; +} + +/* + find a frame by name + */ +Frame *Frame::find_frame(const char *name) +{ + for (uint8_t i=0; i < ARRAY_SIZE(supported_frames); i++) { + if (strcasecmp(name, supported_frames[i].name) == 0) { + return &supported_frames[i]; + } + } + return NULL; +} + +// calculate rotational and linear accelerations +void Frame::calculate_forces(const Aircraft &aircraft, + const Aircraft::sitl_input &input, + Vector3f &rot_accel, + Vector3f &body_accel) +{ + Vector3f thrust; // newtons + + for (uint8_t i=0; i 0) { + // rotational air resistance + const Vector3f &gyro = aircraft.get_gyro(); + rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate; + rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate; + rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate; + } + + if (terminal_velocity > 0) { + // air resistance + Vector3f air_resistance = -aircraft.get_velocity_air_ef() * (GRAVITY_MSS/terminal_velocity); + body_accel += aircraft.get_dcm().transposed() * air_resistance; + } + + // add some noise + const float gyro_noise = radians(0.1); + const float accel_noise = 0.3; + const float noise_scale = thrust.length() / (thrust_scale * num_motors); + rot_accel += Vector3f(aircraft.rand_normal(0, 1), + aircraft.rand_normal(0, 1), + aircraft.rand_normal(0, 1)) * gyro_noise * noise_scale; + body_accel += Vector3f(aircraft.rand_normal(0, 1), + aircraft.rand_normal(0, 1), + aircraft.rand_normal(0, 1)) * accel_noise * noise_scale; +} + diff --git a/libraries/SITL/SIM_Frame.h b/libraries/SITL/SIM_Frame.h new file mode 100644 index 0000000000..7d8bfff435 --- /dev/null +++ b/libraries/SITL/SIM_Frame.h @@ -0,0 +1,60 @@ +/// -*- 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 . + */ +/* + multicopter simulator class +*/ + +#pragma once + +#include "SIM_Aircraft.h" +#include "SIM_Motor.h" + +using namespace SITL; + +/* + class to describe a multicopter frame type + */ +class Frame { +public: + const char *name; + uint8_t num_motors; + const Motor *motors; + + Frame(const char *_name, + uint8_t _num_motors, + const Motor *_motors) : + name(_name), + num_motors(_num_motors), + motors(_motors) {} + + + // find a frame by name + static Frame *find_frame(const char *name); + + // initialise frame + void init(float mass, float hover_throttle, float terminal_velocity, float terminal_rotation_rate); + + // calculate rotational and linear accelerations + void calculate_forces(const Aircraft &aircraft, + const Aircraft::sitl_input &input, + Vector3f &rot_accel, Vector3f &body_accel); + + float terminal_velocity; + float terminal_rotation_rate; + float thrust_scale; + float mass; + uint8_t motor_offset; +}; diff --git a/libraries/SITL/SIM_Motor.cpp b/libraries/SITL/SIM_Motor.cpp new file mode 100644 index 0000000000..a097aebda6 --- /dev/null +++ b/libraries/SITL/SIM_Motor.cpp @@ -0,0 +1,38 @@ +/// -*- 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 . + */ +/* + simple electric motor simulator class +*/ + +#include "SIM_Motor.h" +#include + +using namespace SITL; + +// calculate rotational accel and thrust for a motor +void Motor::calculate_forces(const Aircraft::sitl_input &input, + const float thrust_scale, + uint8_t motor_offset, + Vector3f &rot_accel, + Vector3f &thrust) const +{ + float motor_speed = constrain_float((input.servos[motor_offset+servo]-1100)/900.0, 0, 1); + rot_accel.x = -radians(5000.0) * sinf(radians(angle)) * motor_speed; + rot_accel.y = radians(5000.0) * cosf(radians(angle)) * motor_speed; + rot_accel.z = yaw_factor * motor_speed * radians(400.0); + thrust(0, 0, motor_speed * thrust_scale); // newtons +} + diff --git a/libraries/SITL/SIM_Motor.h b/libraries/SITL/SIM_Motor.h new file mode 100644 index 0000000000..fd289d0c93 --- /dev/null +++ b/libraries/SITL/SIM_Motor.h @@ -0,0 +1,72 @@ +/// -*- 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 . + */ +/* + simple electric motor simulation class +*/ + +#pragma once + +#include "SIM_Aircraft.h" + +using namespace SITL; + +/* + class to describe a motor position + */ +class Motor { +public: + float angle; + float yaw_factor; + uint8_t servo; + uint8_t display_order; + + // support for tilting motors + int8_t roll_servo = -1; + float roll_min, roll_max; + int8_t pitch_servo = -1; + float pitch_min, pitch_max; + + Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) : + servo(_servo), // what servo output drives this motor + angle(_angle), // angle in degrees from front + yaw_factor(_yaw_factor), // positive is clockwise + display_order(_display_order) // order for clockwise display + {} + + /* + alternative constructor for tiltable motors + */ + Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order, + int8_t _roll_servo, float _roll_min, float _roll_max, + int8_t _pitch_servo, float _pitch_min, float _pitch_max) : + servo(_servo), // what servo output drives this motor + angle(_angle), // angle in degrees from front + yaw_factor(_yaw_factor), // positive is clockwise + display_order(_display_order), // order for clockwise display + roll_servo(_roll_servo), + roll_min(_roll_min), + roll_max(_roll_max), + pitch_servo(_pitch_servo), + pitch_min(_pitch_min), + pitch_max(_pitch_max) + {} + + void calculate_forces(const Aircraft::sitl_input &input, + float thrust_scale, + uint8_t motor_offset, + Vector3f &rot_accel, // rad/sec + Vector3f &body_thrust) const; // newtons +}; diff --git a/libraries/SITL/SIM_Multicopter.cpp b/libraries/SITL/SIM_Multicopter.cpp index 2e83aea0b4..01c9bc9a32 100644 --- a/libraries/SITL/SIM_Multicopter.cpp +++ b/libraries/SITL/SIM_Multicopter.cpp @@ -24,108 +24,6 @@ using namespace SITL; -static const Motor quad_plus_motors[] = -{ - Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), - Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), - Motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), - Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3), -}; - -static const Motor quad_x_motors[] = -{ - Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), - Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), - Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4), - Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), -}; - -static const Motor hexa_motors[] = -{ - Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), - Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), - Motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5), - Motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), - Motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6), - Motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3) -}; - -static const Motor hexax_motors[] = -{ - Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), - Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), - Motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6), - Motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3), - Motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), - Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4) -}; - -static const Motor octa_motors[] = -{ - Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1), - Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5), - Motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2), - Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), - Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8), - Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6), - Motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7), - Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3) -}; - -static const Motor octa_quad_motors[] = -{ - Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1), - Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7), - Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5), - Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3), - Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8), - Motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2), - Motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4), - Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6) -}; - -/* - table of supported frame types - */ -static Frame supported_frames[] = -{ - Frame("+", 4, quad_plus_motors), - Frame("quad", 4, quad_plus_motors), - Frame("copter", 4, quad_plus_motors), - Frame("x", 4, quad_x_motors), - Frame("hexa", 6, hexa_motors), - Frame("hexax", 6, hexax_motors), - Frame("octa", 8, octa_motors), - Frame("octa-quad", 8, octa_quad_motors) -}; - -void Frame::init(float _mass, float hover_throttle, float _terminal_velocity, float _terminal_rotation_rate) -{ - mass = _mass; - - /* - scaling from total motor power to Newtons. Allows the copter - to hover against gravity when each motor is at hover_throttle - */ - thrust_scale = (mass * GRAVITY_MSS) / (num_motors * hover_throttle); - - terminal_velocity = _terminal_velocity; - terminal_rotation_rate = _terminal_rotation_rate; -} - -/* - find a frame by name - */ -Frame *Frame::find_frame(const char *name) -{ - for (uint8_t i=0; i < ARRAY_SIZE(supported_frames); i++) { - if (strcasecmp(name, supported_frames[i].name) == 0) { - return &supported_frames[i]; - } - } - return NULL; -} - MultiCopter::MultiCopter(const char *home_str, const char *frame_str) : Aircraft(home_str, frame_str), frame(NULL) @@ -139,51 +37,6 @@ MultiCopter::MultiCopter(const char *home_str, const char *frame_str) : frame_height = 0.1; } -// calculate rotational and linear accelerations -void Frame::calculate_forces(const Aircraft &aircraft, - const Aircraft::sitl_input &input, - Vector3f &rot_accel, - Vector3f &body_accel) -{ - // rotational acceleration, in rad/s/s, in body frame - float thrust = 0.0f; // newtons - - for (uint8_t i=0; i 0) { - // rotational air resistance - const Vector3f &gyro = aircraft.get_gyro(); - rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate; - rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate; - rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate; - } - - if (terminal_velocity > 0) { - // air resistance - Vector3f air_resistance = -aircraft.get_velocity_air_ef() * (GRAVITY_MSS/terminal_velocity); - body_accel += aircraft.get_dcm().transposed() * air_resistance; - } - - // add some noise - const float gyro_noise = radians(0.1); - const float accel_noise = 0.3; - const float noise_scale = thrust / (thrust_scale * num_motors); - rot_accel += Vector3f(aircraft.rand_normal(0, 1), - aircraft.rand_normal(0, 1), - aircraft.rand_normal(0, 1)) * gyro_noise * noise_scale; - body_accel += Vector3f(aircraft.rand_normal(0, 1), - aircraft.rand_normal(0, 1), - aircraft.rand_normal(0, 1)) * accel_noise * noise_scale; -} - // calculate rotational and linear accelerations void MultiCopter::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel) { diff --git a/libraries/SITL/SIM_Multicopter.h b/libraries/SITL/SIM_Multicopter.h index 78cc1c1904..7cbaf9ff57 100644 --- a/libraries/SITL/SIM_Multicopter.h +++ b/libraries/SITL/SIM_Multicopter.h @@ -20,61 +20,10 @@ #pragma once #include "SIM_Aircraft.h" +#include "SIM_Motor.h" +#include "SIM_Frame.h" -namespace SITL { - -/* - class to describe a motor position - */ -class Motor { -public: - float angle; - float yaw_factor; - uint8_t servo; - uint8_t display_order; - - Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) : - servo(_servo), // what servo output drives this motor - angle(_angle), // angle in degrees from front - yaw_factor(_yaw_factor), // positive is clockwise - display_order(_display_order) // order for clockwise display - {} -}; - -/* - class to describe a multicopter frame type - */ -class Frame { -public: - const char *name; - uint8_t num_motors; - const Motor *motors; - - Frame(const char *_name, - uint8_t _num_motors, - const Motor *_motors) : - name(_name), - num_motors(_num_motors), - motors(_motors) {} - - - // find a frame by name - static Frame *find_frame(const char *name); - - // initialise frame - void init(float mass, float hover_throttle, float terminal_velocity, float terminal_rotation_rate); - - // calculate rotational and linear accelerations - void calculate_forces(const Aircraft &aircraft, - const Aircraft::sitl_input &input, - Vector3f &rot_accel, Vector3f &body_accel); - - float terminal_velocity; - float terminal_rotation_rate; - float thrust_scale; - float mass; - uint8_t motor_offset; -}; +using namespace SITL; /* a multicopter simulator @@ -97,4 +46,3 @@ protected: Frame *frame; }; -} // namespace SITL