mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.9 KiB
C++
69 lines
2.9 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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rover 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 rover simulator
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*/
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class SimRover : public Aircraft {
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public:
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SimRover(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 *frame_str) {
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return NEW_NOTHROW SimRover(frame_str);
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}
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private:
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static constexpr float MAX_YAW_RATE = 360.0; // MAX 360 deg/s yaw rate speed to not nuke the ekf gsf
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float max_speed = 20.0f; // vehicle's maximum forward speed in m/s
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float max_accel = 10.0f; // vehicle's maximum forward acceleration in m/s/s
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float max_wheel_turn = 35.0f; // ackermann steering vehicle's maximum steering angle
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float turning_circle = 1.8f; // ackermann steering vehicle's minimum turn diameter in meters
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float skid_turn_rate = 140.0f; // skid-steering vehicle's maximum turn rate in deg/sec
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bool skid_steering; // true if this vehicle is a skid-steering vehicle
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// vectored thrust related members
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bool vectored_thrust; // true if vehicle uses vectored thrust (i.e. steering controls direction of thrust)
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float vectored_angle_max = 90.0f; // maximum angle (in degrees) to which thrust can be turned
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float vectored_turn_rate_max = 90.0f; // maximum turn rate (in deg/sec) with full throttle angled at 90deg
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// omni3 Mecanum related members
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bool omni3; // true if vehicle is omni-directional with 3 Mecanum wheels
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float omni3_max_speed = 2.3625f; // omni vehicle's maximum forward speed in m/s
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float omni3_max_accel = 1.0f; // omni vehicle's maximum forward acceleration in m/s/s
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float omni3_wheel_max_ang_vel = 50.0f; // omni vehicle's wheel maximum angular velocity in rad/s
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void update_ackermann_or_skid(const struct sitl_input &input, float delta_time);
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void update_omni3(const struct sitl_input &input, float delta_time);
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float turn_circle(float steering) const;
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float calc_yaw_rate(float steering, float speed);
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float calc_lat_accel(float steering_angle, float speed);
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};
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} // namespace SITL
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