ardupilot/libraries/SITL/SIM_Plane.h

129 lines
3.7 KiB
C++

/*
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/>.
*/
/*
simple plane simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
#include "SIM_ICEngine.h"
#include <Filter/LowPassFilter.h>
namespace SITL {
/*
a very simple plane simulator
*/
class Plane : public Aircraft {
public:
Plane(const char *frame_str);
/* update model by one time step */
virtual void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *frame_str) {
return new Plane(frame_str);
}
protected:
const float hover_throttle = 0.7f;
const float air_density = 1.225; // kg/m^3 at sea level, ISA conditions
float angle_of_attack;
float beta;
struct {
// from last_letter skywalker_2013/aerodynamics.yaml
// thanks to Georacer!
float s = 0.45;
float b = 1.88;
float c = 0.24;
float c_lift_0 = 0.56;
float c_lift_deltae = 0;
float c_lift_a = 6.9;
float c_lift_q = 0;
float mcoeff = 50;
float oswald = 0.9;
float alpha_stall = 0.4712;
float c_drag_q = 0;
float c_drag_deltae = 0.0;
float c_drag_p = 0.1;
float c_y_0 = 0;
float c_y_b = -0.98;
float c_y_p = 0;
float c_y_r = 0;
float c_y_deltaa = 0;
float c_y_deltar = -0.2;
float c_l_0 = 0;
float c_l_p = -1.0;
float c_l_b = -0.12;
float c_l_r = 0.14;
float c_l_deltaa = 0.25;
float c_l_deltar = -0.037;
float c_m_0 = 0.045;
float c_m_a = -0.7;
float c_m_q = -20;
float c_m_deltae = 1.0;
float c_n_0 = 0;
float c_n_b = 0.25;
float c_n_p = 0.022;
float c_n_r = -1;
float c_n_deltaa = 0.00;
float c_n_deltar = 0.1;
float deltaa_max = 0.3491;
float deltae_max = 0.3491;
float deltar_max = 0.3491;
// the X CoG offset should be -0.02, but that makes the plane too tail heavy
// in manual flight. Adjusted to -0.15 gives reasonable flight
Vector3f CGOffset{-0.15, 0, -0.05};
} coefficient;
float thrust_scale;
bool reverse_thrust;
bool elevons;
bool vtail;
bool dspoilers;
bool reverse_elevator_rudder;
bool ice_engine;
bool tailsitter;
bool copter_tailsitter;
bool have_launcher;
float launch_accel;
float launch_time;
uint64_t launch_start_ms;
const uint8_t throttle_servo = 2;
const int8_t choke_servo = 14;
const int8_t ignition_servo = 12;
const int8_t starter_servo = 13;
const float slewrate = 100;
ICEngine icengine{
throttle_servo,
choke_servo,
ignition_servo,
starter_servo,
slewrate
};
float liftCoeff(float alpha) const;
float dragCoeff(float alpha) const;
Vector3f getForce(float inputAileron, float inputElevator, float inputRudder) const;
Vector3f getTorque(float inputAileron, float inputElevator, float inputRudder, float inputThrust, const Vector3f &force) const;
void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel);
};
} // namespace SITL