mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simple electric motor simulation class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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class to describe a motor position
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*/
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class Motor {
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public:
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float angle;
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float yaw_factor;
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uint8_t servo;
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uint8_t display_order;
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// support for tilting motors
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int8_t roll_servo = -1;
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float roll_min, roll_max;
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int8_t pitch_servo = -1;
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float pitch_min, pitch_max;
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// support for servo slew rate
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enum {SERVO_NORMAL, SERVO_RETRACT} servo_type;
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float servo_rate = 0.24; // seconds per 60 degrees
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uint64_t last_change_usec;
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float last_roll_value, last_pitch_value;
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) :
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servo(_servo), // what servo output drives this motor
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angle(_angle), // angle in degrees from front
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yaw_factor(_yaw_factor), // positive is clockwise
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display_order(_display_order) // order for clockwise display
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{}
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/*
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alternative constructor for tiltable motors
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*/
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order,
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int8_t _roll_servo, float _roll_min, float _roll_max,
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int8_t _pitch_servo, float _pitch_min, float _pitch_max) :
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servo(_servo), // what servo output drives this motor
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angle(_angle), // angle in degrees from front
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yaw_factor(_yaw_factor), // positive is clockwise
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display_order(_display_order), // order for clockwise display
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roll_servo(_roll_servo),
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roll_min(_roll_min),
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roll_max(_roll_max),
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pitch_servo(_pitch_servo),
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pitch_min(_pitch_min),
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pitch_max(_pitch_max)
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{}
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void calculate_forces(const Aircraft::sitl_input &input,
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float thrust_scale,
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uint8_t motor_offset,
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Vector3f &rot_accel, // rad/sec
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Vector3f &body_thrust); // Z is down
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uint16_t update_servo(uint16_t demand, uint64_t time_usec, float &last_value);
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// calculate current and voltage
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void current_and_voltage(const Aircraft::sitl_input &input, float &voltage, float ¤t, uint8_t motor_offset);
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};
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}
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