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 One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
81 lines
2.1 KiB
C++
81 lines
2.1 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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simulator connection for ardupilot version of CRRCSim
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*/
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#pragma once
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a CRRCSim simulator
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*/
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class CRRCSim : public Aircraft {
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public:
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CRRCSim(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 CRRCSim(home_str, frame_str);
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}
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private:
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/*
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packet sent to CRRCSim
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*/
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struct servo_packet {
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float roll_rate;
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float pitch_rate;
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float throttle;
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float yaw_rate;
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float col_pitch;
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};
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/*
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reply packet sent from CRRCSim to ArduPilot
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*/
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struct fdm_packet {
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double timestamp;
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double latitude, longitude;
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double altitude;
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double heading;
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double speedN, speedE, speedD;
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double xAccel, yAccel, zAccel;
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double rollRate, pitchRate, yawRate;
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double roll, pitch, yaw;
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double airspeed;
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};
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void send_servos_heli(const struct sitl_input &input);
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void send_servos_fixed_wing(const struct sitl_input &input);
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void recv_fdm(const struct sitl_input &input);
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void send_servos(const struct sitl_input &input);
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bool heli_servos;
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double last_timestamp;
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SocketAPM sock;
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};
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} // namespace SITL
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