mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.9 KiB
C++
125 lines
3.9 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 electric motor simulation class
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "SIM_Aircraft.h"
|
|
|
|
namespace SITL {
|
|
|
|
/*
|
|
class to describe a motor position
|
|
*/
|
|
class Motor {
|
|
public:
|
|
float angle;
|
|
float yaw_factor;
|
|
uint8_t servo;
|
|
uint8_t display_order;
|
|
|
|
// support for tilting motors
|
|
int8_t roll_servo = -1;
|
|
float roll_min, roll_max;
|
|
int8_t pitch_servo = -1;
|
|
float pitch_min, pitch_max;
|
|
|
|
// support for servo slew rate
|
|
enum {SERVO_NORMAL, SERVO_RETRACT} servo_type;
|
|
float servo_rate = 0.24; // seconds per 60 degrees
|
|
uint64_t last_change_usec;
|
|
float last_roll_value, last_pitch_value;
|
|
|
|
Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) :
|
|
servo(_servo), // what servo output drives this motor
|
|
angle(_angle), // angle in degrees from front
|
|
yaw_factor(_yaw_factor), // positive is clockwise
|
|
display_order(_display_order) // order for clockwise display
|
|
{}
|
|
|
|
/*
|
|
alternative constructor for tiltable motors
|
|
*/
|
|
Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order,
|
|
int8_t _roll_servo, float _roll_min, float _roll_max,
|
|
int8_t _pitch_servo, float _pitch_min, float _pitch_max) :
|
|
servo(_servo), // what servo output drives this motor
|
|
angle(_angle), // angle in degrees from front
|
|
yaw_factor(_yaw_factor), // positive is clockwise
|
|
display_order(_display_order), // order for clockwise display
|
|
roll_servo(_roll_servo),
|
|
roll_min(_roll_min),
|
|
roll_max(_roll_max),
|
|
pitch_servo(_pitch_servo),
|
|
pitch_min(_pitch_min),
|
|
pitch_max(_pitch_max)
|
|
{}
|
|
|
|
void calculate_forces(const struct sitl_input &input,
|
|
uint8_t motor_offset,
|
|
Vector3f &rot_accel, // rad/sec
|
|
Vector3f &body_thrust, // Z is down
|
|
const Vector3f &velocity_air_bf,
|
|
float air_density,
|
|
float velocity_max,
|
|
float effective_prop_area,
|
|
float voltage);
|
|
|
|
uint16_t update_servo(uint16_t demand, uint64_t time_usec, float &last_value);
|
|
|
|
// get current
|
|
float get_current(void) const;
|
|
|
|
// convert a PWM value to a thrust demand from 0 to 1
|
|
float pwm_to_command(float pwm) const;
|
|
|
|
// setup motor key parameters
|
|
void setup_params(uint16_t _pwm_min, uint16_t _pwm_max, float _spin_min, float _spin_max, float _expo, float _slew_max,
|
|
float _vehicle_mass, float _diagonal_size, float _power_factor, float _voltage_max);
|
|
|
|
// override slew limit
|
|
void set_slew_max(float _slew_max) {
|
|
slew_max = _slew_max;
|
|
}
|
|
|
|
float get_command(void) const {
|
|
return last_command;
|
|
}
|
|
|
|
// calculate thrust of motor
|
|
float calc_thrust(float command, float air_density, float effective_prop_area, float velocity_in, float velocity_max) const;
|
|
|
|
private:
|
|
float mot_pwm_min;
|
|
float mot_pwm_max;
|
|
float mot_spin_min;
|
|
float mot_spin_max;
|
|
float mot_expo;
|
|
float slew_max;
|
|
float vehicle_mass;
|
|
float diagonal_size;
|
|
float current;
|
|
float power_factor;
|
|
float voltage_max;
|
|
Vector3f moment_of_inertia;
|
|
|
|
float last_command;
|
|
uint64_t last_calc_us;
|
|
};
|
|
|
|
}
|