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 One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
73 lines
1.9 KiB
C++
73 lines
1.9 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 Gazebo
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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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Gazebo simulator
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*/
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class Gazebo : public Aircraft {
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public:
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Gazebo(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 Gazebo(home_str, frame_str);
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}
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private:
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/*
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packet sent to Gazebo
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*/
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struct servo_packet {
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float motor_speed[4];
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};
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/*
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reply packet sent from Gazebo to ArduPilot
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*/
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struct fdm_packet {
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double timestamp;
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double imu_angular_velocity_rpy[3];
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double imu_linear_acceleration_xyz[3];
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double imu_orientation_quat[4];
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double velocity_xyz[3];
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double position_xyz[3];
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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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double last_timestamp;
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SocketAPM sock;
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};
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} // namespace SITL
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