ardupilot/libraries/SITL/SIM_Multicopter.h

62 lines
1.7 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/>.
*/
/*
multicopter simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
#include "SIM_Motor.h"
#include "SIM_Frame.h"
#include "SIM_Sprayer.h"
#include "SIM_Gripper_Servo.h"
#include "SIM_Gripper_EPM.h"
namespace SITL {
/*
a multicopter simulator
*/
class MultiCopter : public Aircraft {
public:
MultiCopter(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 MultiCopter(home_str, frame_str);
}
protected:
// calculate rotational and linear accelerations
void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
Frame *frame;
// The numbers here are offsets into the input servos array
// (generally output-servo-number-1 e.g. 2 for throttle)
Sprayer sprayer{6, 7};
Gripper_Servo gripper{8};
Gripper_EPM gripper_epm{9};
float gross_mass() const override;
};
}