mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.6 KiB
C++
140 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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parent class for aircraft simulators
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*/
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#ifndef _SIM_AIRCRAFT_H
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#define _SIM_AIRCRAFT_H
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#include "SITL.h"
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#include <AP_Common.h>
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#include <AP_Math.h>
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/*
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parent class for all simulator types
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*/
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class Aircraft
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{
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public:
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Aircraft(const char *home_str, const char *frame_str);
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/*
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structure passed in giving servo positions as PWM values in
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microseconds
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*/
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struct sitl_input {
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uint16_t servos[16];
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struct {
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float speed; // m/s
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float direction; // degrees 0..360
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float turbulance;
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} wind;
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};
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/*
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set simulation speedup
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*/
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void set_speedup(float speedup);
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/*
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set instance number
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*/
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void set_instance(uint8_t _instance) {
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instance = _instance;
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}
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/*
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set directory for additional files such as aircraft models
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*/
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void set_autotest_dir(const char *_autotest_dir) {
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autotest_dir = _autotest_dir;
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}
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/*
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step the FDM by one time step
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*/
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virtual void update(const struct sitl_input &input) = 0;
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/* fill a sitl_fdm structure from the simulator state */
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void fill_fdm(struct sitl_fdm &fdm) const;
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protected:
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Location home;
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Location location;
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float ground_level;
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float frame_height;
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Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
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Vector3f gyro; // rad/s
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Vector3f velocity_ef; // m/s, earth frame
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Vector3f position; // meters, NED from origin
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float mass; // kg
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Vector3f accel_body; // m/s/s NED, body frame
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float airspeed; // m/s, apparent airspeed
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uint64_t time_now_us;
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const float gyro_noise;
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const float accel_noise;
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float rate_hz;
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float achieved_rate_hz;
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float target_speedup;
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uint64_t frame_time_us;
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float scaled_frame_time_us;
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uint64_t last_wall_time_us;
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uint8_t instance;
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const char *autotest_dir;
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bool on_ground(const Vector3f &pos) const;
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/* update location from position */
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void update_position(void);
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/* rotate to the given yaw */
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void set_yaw_degrees(float yaw_degrees);
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/* advance time by deltat in seconds */
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void time_advance(float deltat);
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/* setup the frame step time */
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void setup_frame_time(float rate, float speedup);
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/* adjust frame_time calculation */
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void adjust_frame_time(float rate);
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/* try to synchronise simulation time with wall clock time, taking
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into account desired speedup */
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void sync_frame_time(void);
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/* add noise based on throttle level (from 0..1) */
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void add_noise(float throttle);
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/* return wall clock time in microseconds since 1970 */
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uint64_t get_wall_time_us(void) const;
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/* return normal distribution random numbers */
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double rand_normal(double mean, double stddev);
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private:
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uint64_t last_time_us;
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uint32_t frame_counter;
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const uint32_t min_sleep_time;
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};
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#endif // _SIM_AIRCRAFT_H
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