mirror of
https://github.com/ArduPilot/ardupilot
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11b599bcd0
For the general case, pragma once is better replacement for of include guards. One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
63 lines
1.8 KiB
C++
63 lines
1.8 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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helicopter simulator class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a helicopter simulator
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*/
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class Helicopter : public Aircraft {
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public:
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Helicopter(const char *home_str, const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new Helicopter(home_str, frame_str);
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}
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private:
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float terminal_rotation_rate = 4*radians(360.0f);
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float hover_throttle = 0.65f;
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float terminal_velocity = 40;
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float hover_lean = 8.0f;
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float yaw_zero = 0.1f;
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float rotor_rot_accel = radians(20);
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float roll_rate_max = radians(1400);
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float pitch_rate_max = radians(1400);
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float yaw_rate_max = radians(1400);
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float rsc_setpoint = 0.8f;
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float thrust_scale;
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float tail_thrust_scale;
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enum frame_types {
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HELI_FRAME_CONVENTIONAL,
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HELI_FRAME_DUAL,
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HELI_FRAME_COMPOUND
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} frame_type = HELI_FRAME_CONVENTIONAL;
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bool gas_heli = false;
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};
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} // namespace SITL
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