ardupilot/libraries/SITL/SIM_Submarine.h

83 lines
2.4 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/>.
*/
/*
ROV/AUV/Submarine simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
#include "SIM_Motor.h"
#include "SIM_Frame.h"
namespace SITL {
/*
a submarine simulator
*/
class Submarine : public Aircraft {
public:
Submarine(const char *home_str, const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new Submarine(home_str, frame_str);
}
protected:
const float water_density = 1023.6; // (kg/m^3) At a temperature of 25 °C, salinity of 35 g/kg and 1 atm pressure
const class FrameConfig {
public:
FrameConfig() = default;
float length = 0.457; // x direction (meters)
float width = 0.338; // y direction (meters)
float height = 0.254; // z direction (meters)
float weight = 10.5; // (kg)
float net_bouyancy = 2.0; // (N)
float bouyancy_acceleration = GRAVITY_MSS + net_bouyancy/weight;
} frame_proprietary;
bool on_ground() const override;
// calculate rotational and linear accelerations
void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
// calculate buoyancy
float calculate_buoyancy_acceleration();
Frame *frame;
};
class Thruster {
public:
Thruster(int8_t _servo, float roll_fac, float pitch_fac, float yaw_fac, float throttle_fac, float forward_fac, float lat_fac) :
servo(_servo)
{
linear = Vector3f(forward_fac, lat_fac, -throttle_fac);
rotational = Vector3f(roll_fac, pitch_fac, yaw_fac);
};
int8_t servo;
Vector3f linear;
Vector3f rotational;
};
}