mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.7 KiB
C++
95 lines
2.7 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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helicopter simulator 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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a helicopter simulator
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*/
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class Helicopter : public Aircraft {
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public:
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Helicopter(const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return new Helicopter(frame_str);
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}
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protected:
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void update_rotor_dynamics(Vector3f gyros, Vector2f ctrl_pos, Vector2f &tpp_angle, float dt);
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float update_rpm(float curr_rpm, float throttle, float &engine_torque, float collective, float dt);
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// buffers to provide time delay
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struct servos_stored {
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uint16_t servo1;
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uint16_t servo2;
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uint16_t servo3;
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uint16_t servo4;
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uint16_t servo5;
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uint16_t servo6;
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};
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uint16_t _servos_delayed[6];
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ObjectBuffer<servos_stored> *servos_stored_buffer;
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void push_to_buffer(const uint16_t servos_input[16]);
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void pull_from_buffer(uint16_t servos_delayed[6]);
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private:
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float terminal_rotation_rate = 4*radians(360.0f);
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float hover_throttle = 0.5f;
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float terminal_velocity = 80;
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float hover_lean = 3.2f;
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float rotor_rot_accel = radians(20);
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float roll_rate_max = radians(1400);
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float pitch_rate_max = radians(1400);
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float yaw_rate_max = radians(1400);
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float rsc_setpoint = 0.8f;
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float izz = 0.2f;
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float iyy;
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float tr_dist = 0.85f;
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float cyclic_scalar = 7.2; // converts swashplate servo ouputs to cyclic blade pitch
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float thrust_scale;
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Vector2f _tpp_angle;
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Vector2f _tpp_angle_1;
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Vector2f _tpp_angle_2;
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float torque_scale;
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float torque_mpog;
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float torque_max;
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float hover_coll = 5.0f;
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bool motor_interlock;
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uint8_t _time_delay;
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enum frame_types {
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HELI_FRAME_CONVENTIONAL,
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HELI_FRAME_DUAL,
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HELI_FRAME_COMPOUND,
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HELI_FRAME_BLADE360,
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} frame_type = HELI_FRAME_CONVENTIONAL;
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bool gas_heli = false;
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float nominal_rpm;
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};
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} // namespace SITL
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