mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
/*
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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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sailboat 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 sailboat simulator
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*/
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class Sailboat : public Aircraft {
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public:
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Sailboat(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) override;
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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 Sailboat(home_str, frame_str);
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}
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private:
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// calculate the lift and drag as values from 0 to 1 given an apparent wind speed in m/s and angle-of-attack in degrees
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void calc_lift_and_drag(float wind_speed, float angle_of_attack_deg, float& lift, float& drag) const;
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// return turning circle (diameter) in meters for steering angle proportion in the range -1 to +1
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float get_turn_circle(float steering) const;
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// return yaw rate in deg/sec given a steering input (in the range -1 to +1) and speed in m/s
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float get_yaw_rate(float steering, float speed) const;
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// return lateral acceleration in m/s/s given a steering input (in the range -1 to +1) and speed in m/s
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float get_lat_accel(float steering, float speed) const;
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float steering_angle_max; // vehicle steering mechanism's max angle in degrees
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float turning_circle; // vehicle minimum turning circle diameter in meters
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// lift and drag curves. index is angle/10deg
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// angle-of-attack 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170+
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const float lift_curve[18] = {0.00f, 0.50f, 1.00f, 1.10f, 0.95f, 0.75f, 0.60f, 0.40f, 0.20f, 0.00f, -0.20f, -0.40f, -0.60f, -0.75f, -0.95f, -1.10f, -1.00f, -0.50f};
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const float drag_curve[18] = {0.10f, 0.10f, 0.20f, 0.40f, 0.80f, 1.20f, 1.50f, 1.70f, 1.90f, 1.95f, 1.90f, 1.70f, 1.50f, 1.20f, 0.80f, 0.40f, 0.20f, 0.10f};
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const float mass = 2.0f;
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};
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} // namespace SITL
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