mirror of https://github.com/ArduPilot/ardupilot
123 lines
3.9 KiB
C++
123 lines
3.9 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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Submarine simulator class
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*/
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#include "SIM_Submarine.h"
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#include <AP_Motors/AP_Motors.h>
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#include "Frame_Vectored.h"
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#include <stdio.h>
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using namespace SITL;
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static Thruster vectored_thrusters[] =
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{
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Thruster(0, MOT_1_ROLL_FACTOR, MOT_1_PITCH_FACTOR, MOT_1_YAW_FACTOR, MOT_1_THROTTLE_FACTOR, MOT_1_FORWARD_FACTOR, MOT_1_STRAFE_FACTOR),
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Thruster(1, MOT_2_ROLL_FACTOR, MOT_2_PITCH_FACTOR, MOT_2_YAW_FACTOR, MOT_2_THROTTLE_FACTOR, MOT_2_FORWARD_FACTOR, MOT_2_STRAFE_FACTOR),
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Thruster(2, MOT_3_ROLL_FACTOR, MOT_3_PITCH_FACTOR, MOT_3_YAW_FACTOR, MOT_3_THROTTLE_FACTOR, MOT_3_FORWARD_FACTOR, MOT_3_STRAFE_FACTOR),
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Thruster(3, MOT_4_ROLL_FACTOR, MOT_4_PITCH_FACTOR, MOT_4_YAW_FACTOR, MOT_4_THROTTLE_FACTOR, MOT_4_FORWARD_FACTOR, MOT_4_STRAFE_FACTOR),
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Thruster(4, MOT_5_ROLL_FACTOR, MOT_5_PITCH_FACTOR, MOT_5_YAW_FACTOR, MOT_5_THROTTLE_FACTOR, MOT_5_FORWARD_FACTOR, MOT_5_STRAFE_FACTOR),
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Thruster(5, MOT_6_ROLL_FACTOR, MOT_6_PITCH_FACTOR, MOT_6_YAW_FACTOR, MOT_6_THROTTLE_FACTOR, MOT_6_FORWARD_FACTOR, MOT_6_STRAFE_FACTOR)
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};
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Submarine::Submarine(const char *home_str, const char *frame_str) :
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Aircraft(home_str, frame_str),
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frame(NULL)
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{
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frame_height = 0.0;
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ground_behavior = GROUND_BEHAVIOR_NONE;
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}
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// calculate rotational and linear accelerations
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void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel)
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{
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rot_accel = Vector3f(0,0,0);
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// slight positive buoyancy
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body_accel = Vector3f(0,0,-GRAVITY_MSS * 1.1);
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for (int i = 0; i < 6; i++) {
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Thruster t = vectored_thrusters[i];
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int16_t pwm = input.servos[t.servo];
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float output = 0;
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if (pwm < 2000 && pwm > 1000) {
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output = (pwm - 1500) / 400.0; // range -1~1
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}
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// 2.5 scalar for approximate real-life performance of T200 thruster
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body_accel += t.linear * output * 2.5;
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rot_accel += t.rotational * output;
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}
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// Limit movement at the surface of the water
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if (position.z < 0 && body_accel.z < 0) {
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body_accel.z = GRAVITY_MSS;
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}
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// Limit movement at the sea floor
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if (position.z > 100 && body_accel.z > -GRAVITY_MSS) {
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body_accel.z = -GRAVITY_MSS;
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}
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float terminal_rotation_rate = 10.0;
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if (terminal_rotation_rate > 0) {
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// rotational air resistance
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rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate;
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rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate;
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rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
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}
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float terminal_velocity = 3.0;
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if (terminal_velocity > 0) {
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// air resistance
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Vector3f air_resistance = -velocity_air_ef * (GRAVITY_MSS/terminal_velocity);
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body_accel += dcm.transposed() * air_resistance;
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}
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}
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/*
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update the Submarine simulation by one time step
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*/
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void Submarine::update(const struct sitl_input &input)
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{
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// get wind vector setup
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update_wind(input);
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Vector3f rot_accel;
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calculate_forces(input, rot_accel, accel_body);
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update_dynamics(rot_accel);
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// update lat/lon/altitude
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update_position();
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time_advance();
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// update magnetic field
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update_mag_field_bf();
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}
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/*
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return true if we are on the ground
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*/
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bool Submarine::on_ground() const
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{
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return false;
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}
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