mirror of https://github.com/ArduPilot/ardupilot
212 lines
6.5 KiB
C++
212 lines
6.5 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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#include "SIM_Helicopter.h"
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#include <stdio.h>
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namespace SITL {
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Helicopter::Helicopter(const char *home_str, const char *frame_str) :
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Aircraft(home_str, frame_str)
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{
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mass = 2.13f;
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/*
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scaling from motor power to Newtons. Allows the copter
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to hover against gravity when the motor is at hover_throttle
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*/
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thrust_scale = (mass * GRAVITY_MSS) / hover_throttle;
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// calculate lateral thrust ratio for tail rotor
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tail_thrust_scale = sinf(radians(hover_lean)) * thrust_scale / yaw_zero;
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frame_height = 0.1;
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if (strstr(frame_str, "-dual")) {
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frame_type = HELI_FRAME_DUAL;
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} else if (strstr(frame_str, "-compound")) {
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frame_type = HELI_FRAME_COMPOUND;
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} else {
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frame_type = HELI_FRAME_CONVENTIONAL;
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}
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gas_heli = (strstr(frame_str, "-gas") != NULL);
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}
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/*
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update the helicopter simulation by one time step
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*/
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void Helicopter::update(const struct sitl_input &input)
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{
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// how much time has passed?
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float delta_time = frame_time_us * 1.0e-6f;
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float rsc = (input.servos[7]-1000) / 1000.0f;
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// ignition only for gas helis
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bool ignition_enabled = gas_heli?(input.servos[5] > 1500):true;
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float thrust = 0;
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float roll_rate = 0;
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float pitch_rate = 0;
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float yaw_rate = 0;
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float torque_effect_accel = 0;
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float lateral_x_thrust = 0;
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float lateral_y_thrust = 0;
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float swash1 = (input.servos[0]-1000) / 1000.0f;
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float swash2 = (input.servos[1]-1000) / 1000.0f;
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float swash3 = (input.servos[2]-1000) / 1000.0f;
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if (!ignition_enabled) {
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rsc = 0;
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}
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float rsc_scale = rsc/rsc_setpoint;
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switch (frame_type) {
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case HELI_FRAME_CONVENTIONAL: {
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// simulate a traditional helicopter
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float tail_rotor = (input.servos[3]-1000) / 1000.0f;
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thrust = (rsc/rsc_setpoint) * (swash1+swash2+swash3) / 3.0f;
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torque_effect_accel = (rsc_scale+thrust) * rotor_rot_accel;
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roll_rate = swash1 - swash2;
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pitch_rate = (swash1+swash2) / 2.0f - swash3;
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yaw_rate = tail_rotor - 0.5f;
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lateral_y_thrust = yaw_rate * rsc_scale * tail_thrust_scale;
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break;
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}
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case HELI_FRAME_DUAL: {
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// simulate a tandem helicopter
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float swash4 = (input.servos[3]-1000) / 1000.0f;
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float swash5 = (input.servos[4]-1000) / 1000.0f;
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float swash6 = (input.servos[5]-1000) / 1000.0f;
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thrust = (rsc / rsc_setpoint) * (swash1+swash2+swash3+swash4+swash5+swash6) / 6.0f;
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torque_effect_accel = (rsc_scale + rsc / rsc_setpoint) * rotor_rot_accel * ((swash1+swash2+swash3) - (swash4+swash5+swash6));
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roll_rate = (swash1-swash2) + (swash4-swash5);
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pitch_rate = (swash1+swash2+swash3) - (swash4+swash5+swash6);
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yaw_rate = (swash1-swash2) + (swash5-swash4);
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break;
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}
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case HELI_FRAME_COMPOUND: {
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// simulate a compound helicopter
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float right_rotor = (input.servos[3]-1000) / 1000.0f;
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float left_rotor = (input.servos[4]-1000) / 1000.0f;
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thrust = (rsc/rsc_setpoint) * (swash1+swash2+swash3) / 3.0f;
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torque_effect_accel = (rsc_scale+thrust) * rotor_rot_accel;
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roll_rate = swash1 - swash2;
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pitch_rate = (swash1+swash2) / 2.0f - swash3;
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yaw_rate = right_rotor - left_rotor;
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lateral_x_thrust = (left_rotor+right_rotor-1) * rsc_scale * tail_thrust_scale;
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break;
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}
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}
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roll_rate *= rsc_scale;
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pitch_rate *= rsc_scale;
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yaw_rate *= rsc_scale;
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// rotational acceleration, in rad/s/s, in body frame
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Vector3f rot_accel;
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rot_accel.x = roll_rate * roll_rate_max;
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rot_accel.y = pitch_rate * pitch_rate_max;
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rot_accel.z = yaw_rate * yaw_rate_max;
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// rotational air resistance
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rot_accel.x -= gyro.x * radians(5000.0) / terminal_rotation_rate;
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rot_accel.y -= gyro.y * radians(5000.0) / terminal_rotation_rate;
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rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
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// torque effect on tail
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rot_accel.z += torque_effect_accel;
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// update rotational rates in body frame
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gyro += rot_accel * delta_time;
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// update attitude
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dcm.rotate(gyro * delta_time);
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dcm.normalize();
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// air resistance
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Vector3f air_resistance = -velocity_ef * (GRAVITY_MSS/terminal_velocity);
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// scale thrust to newtons
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thrust *= thrust_scale;
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accel_body = Vector3f(lateral_x_thrust, lateral_y_thrust, -thrust / mass);
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Vector3f accel_earth = dcm * accel_body;
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accel_earth += Vector3f(0, 0, GRAVITY_MSS);
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accel_earth += air_resistance;
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// if we're on the ground, then our vertical acceleration is limited
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// to zero. This effectively adds the force of the ground on the aircraft
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if (on_ground(position) && accel_earth.z > 0) {
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accel_earth.z = 0;
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}
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// work out acceleration as seen by the accelerometers. It sees the kinematic
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// acceleration (ie. real movement), plus gravity
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accel_body = dcm.transposed() * (accel_earth + Vector3f(0, 0, -GRAVITY_MSS));
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// add some noise
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add_noise(thrust / thrust_scale);
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// new velocity vector
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velocity_ef += accel_earth * delta_time;
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// new position vector
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Vector3f old_position = position;
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position += velocity_ef * delta_time;
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// assume zero wind for now
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airspeed = velocity_ef.length();
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// constrain height to the ground
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if (on_ground(position)) {
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if (!on_ground(old_position)) {
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printf("Hit ground at %f m/s\n", velocity_ef.z);
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velocity_ef.zero();
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// zero roll/pitch, but keep yaw
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float r, p, y;
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dcm.to_euler(&r, &p, &y);
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dcm.from_euler(0, 0, y);
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position.z = -(ground_level + frame_height - home.alt*0.01f);
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}
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}
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// update lat/lon/altitude
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update_position();
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}
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} // namespace SITL
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