ardupilot/libraries/SITL/SIM_Gazebo.h

73 lines
1.9 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
/*
simulator connection for ardupilot version of Gazebo
*/
#pragma once
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
Gazebo simulator
*/
class Gazebo : public Aircraft {
public:
Gazebo(const char *home_str, const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input);
/* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new Gazebo(home_str, frame_str);
}
private:
/*
packet sent to Gazebo
*/
struct servo_packet {
float motor_speed[4];
};
/*
reply packet sent from Gazebo to ArduPilot
*/
struct fdm_packet {
double timestamp;
double imu_angular_velocity_rpy[3];
double imu_linear_acceleration_xyz[3];
double imu_orientation_quat[4];
double velocity_xyz[3];
double position_xyz[3];
};
void send_servos_heli(const struct sitl_input &input);
void send_servos_fixed_wing(const struct sitl_input &input);
void recv_fdm(const struct sitl_input &input);
void send_servos(const struct sitl_input &input);
double last_timestamp;
SocketAPM sock;
};
} // namespace SITL