ardupilot/libraries/SITL/SIM_QuadPlane.cpp

116 lines
3.4 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/>.
*/
/*
simple quadplane simulator class
*/
#include "SIM_QuadPlane.h"
#include <stdio.h>
using namespace SITL;
QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
Plane(home_str, frame_str)
{
// default to X frame
const char *frame_type = "x";
if (strstr(frame_str, "-octa-quad")) {
frame_type = "octa-quad";
} else if (strstr(frame_str, "-octaquad")) {
frame_type = "octa-quad";
} else if (strstr(frame_str, "-octa")) {
frame_type = "octa";
} else if (strstr(frame_str, "-hexax")) {
frame_type = "hexax";
} else if (strstr(frame_str, "-hexa")) {
frame_type = "hexa";
} else if (strstr(frame_str, "-plus")) {
frame_type = "+";
} else if (strstr(frame_str, "-plus")) {
frame_type = "+";
} else if (strstr(frame_str, "-y6")) {
frame_type = "y6";
} else if (strstr(frame_str, "-tri")) {
frame_type = "tri";
} else if (strstr(frame_str, "-tilttri")) {
frame_type = "tilttri";
// fwd motor gives zero thrust
thrust_scale = 0;
} else if (strstr(frame_str, "firefly")) {
frame_type = "firefly";
// elevon style surfaces
elevons = true;
// fwd motor gives zero thrust
thrust_scale = 0;
} else if (strstr(frame_str, "cl84")) {
frame_type = "tilttri";
// fwd motor gives zero thrust
thrust_scale = 0;
}
frame = Frame::find_frame(frame_type);
if (frame == nullptr) {
printf("Failed to find frame '%s'\n", frame_type);
exit(1);
}
if (strstr(frame_str, "cl84")) {
// setup retract servos at front
frame->motors[0].servo_type = Motor::SERVO_RETRACT;
frame->motors[0].servo_rate = 4*60.0/90; // 4 seconds to change
frame->motors[1].servo_type = Motor::SERVO_RETRACT;
frame->motors[1].servo_rate = 4*60.0/90; // 4 seconds to change
}
// leave first 4 servos free for plane
frame->motor_offset = 4;
// we use zero terminal velocity to let the plane model handle the drag
frame->init(mass, 0.51, 0, 0);
ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;
}
/*
update the quadplane simulation by one time step
*/
void QuadPlane::update(const struct sitl_input &input)
{
// get wind vector setup
update_wind(input);
// first plane forces
Vector3f rot_accel;
calculate_forces(input, rot_accel, accel_body);
// now quad forces
Vector3f quad_rot_accel;
Vector3f quad_accel_body;
frame->calculate_forces(*this, input, quad_rot_accel, quad_accel_body);
rot_accel += quad_rot_accel;
accel_body += quad_accel_body;
update_dynamics(rot_accel);
// update lat/lon/altitude
update_position();
// update magnetic field
update_mag_field_bf();
}