/* 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 . */ /* sailboat simulator class */ #pragma once #include "SIM_Aircraft.h" namespace SITL { /* a sailboat simulator */ class Sailboat : public Aircraft { public: Sailboat(const char *home_str, const char *frame_str); /* update model by one time step */ void update(const struct sitl_input &input) override; /* static object creator */ static Aircraft *create(const char *home_str, const char *frame_str) { return new Sailboat(home_str, frame_str); } private: // calculate the lift and drag as values from 0 to 1 given an apparent wind speed in m/s and angle-of-attack in degrees void calc_lift_and_drag(float wind_speed, float angle_of_attack_deg, float& lift, float& drag) const; // return turning circle (diameter) in meters for steering angle proportion in the range -1 to +1 float get_turn_circle(float steering) const; // return yaw rate in deg/sec given a steering input (in the range -1 to +1) and speed in m/s float get_yaw_rate(float steering, float speed) const; // return lateral acceleration in m/s/s given a steering input (in the range -1 to +1) and speed in m/s float get_lat_accel(float steering, float speed) const; float steering_angle_max; // vehicle steering mechanism's max angle in degrees float turning_circle; // vehicle minimum turning circle diameter in meters // lift and drag curves. index is angle/10deg // angle-of-attack 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170+ const float lift_curve[18] = {0.00f, 0.50f, 1.00f, 1.10f, 0.95f, 0.75f, 0.60f, 0.40f, 0.20f, 0.00f, -0.20f, -0.40f, -0.60f, -0.75f, -0.95f, -1.10f, -1.00f, -0.50f}; const float drag_curve[18] = {0.10f, 0.10f, 0.20f, 0.40f, 0.80f, 1.20f, 1.50f, 1.70f, 1.90f, 1.95f, 1.90f, 1.70f, 1.50f, 1.20f, 0.80f, 0.40f, 0.20f, 0.10f}; const float mass = 2.0f; }; } // namespace SITL