mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
simple quadplane simulator class
|
|
*/
|
|
|
|
#include "SIM_QuadPlane.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
using namespace SITL;
|
|
|
|
QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
|
|
Plane(home_str, frame_str)
|
|
{
|
|
// default to X frame
|
|
const char *frame_type = "x";
|
|
|
|
if (strstr(frame_str, "-octa-quad")) {
|
|
frame_type = "octa-quad";
|
|
} else if (strstr(frame_str, "-octaquad")) {
|
|
frame_type = "octa-quad";
|
|
} else if (strstr(frame_str, "-octa")) {
|
|
frame_type = "octa";
|
|
} else if (strstr(frame_str, "-hexax")) {
|
|
frame_type = "hexax";
|
|
} else if (strstr(frame_str, "-hexa")) {
|
|
frame_type = "hexa";
|
|
} else if (strstr(frame_str, "-plus")) {
|
|
frame_type = "+";
|
|
} else if (strstr(frame_str, "-plus")) {
|
|
frame_type = "+";
|
|
} else if (strstr(frame_str, "-y6")) {
|
|
frame_type = "y6";
|
|
} else if (strstr(frame_str, "-tri")) {
|
|
frame_type = "tri";
|
|
} else if (strstr(frame_str, "-tilttri")) {
|
|
frame_type = "tilttri";
|
|
// fwd motor gives zero thrust
|
|
thrust_scale = 0;
|
|
} else if (strstr(frame_str, "firefly")) {
|
|
frame_type = "firefly";
|
|
// elevon style surfaces
|
|
elevons = true;
|
|
// fwd motor gives zero thrust
|
|
thrust_scale = 0;
|
|
} else if (strstr(frame_str, "cl84")) {
|
|
frame_type = "tilttri";
|
|
// fwd motor gives zero thrust
|
|
thrust_scale = 0;
|
|
}
|
|
frame = Frame::find_frame(frame_type);
|
|
if (frame == nullptr) {
|
|
printf("Failed to find frame '%s'\n", frame_type);
|
|
exit(1);
|
|
}
|
|
|
|
if (strstr(frame_str, "cl84")) {
|
|
// setup retract servos at front
|
|
frame->motors[0].servo_type = Motor::SERVO_RETRACT;
|
|
frame->motors[0].servo_rate = 4*60.0/90; // 4 seconds to change
|
|
frame->motors[1].servo_type = Motor::SERVO_RETRACT;
|
|
frame->motors[1].servo_rate = 4*60.0/90; // 4 seconds to change
|
|
}
|
|
|
|
// leave first 4 servos free for plane
|
|
frame->motor_offset = 4;
|
|
|
|
// we use zero terminal velocity to let the plane model handle the drag
|
|
frame->init(mass, 0.51, 0, 0);
|
|
|
|
ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;
|
|
}
|
|
|
|
/*
|
|
update the quadplane simulation by one time step
|
|
*/
|
|
void QuadPlane::update(const struct sitl_input &input)
|
|
{
|
|
// get wind vector setup
|
|
update_wind(input);
|
|
|
|
// first plane forces
|
|
Vector3f rot_accel;
|
|
calculate_forces(input, rot_accel, accel_body);
|
|
|
|
// now quad forces
|
|
Vector3f quad_rot_accel;
|
|
Vector3f quad_accel_body;
|
|
|
|
frame->calculate_forces(*this, input, quad_rot_accel, quad_accel_body);
|
|
|
|
rot_accel += quad_rot_accel;
|
|
accel_body += quad_accel_body;
|
|
|
|
update_dynamics(rot_accel);
|
|
|
|
// update lat/lon/altitude
|
|
update_position();
|
|
|
|
// update magnetic field
|
|
update_mag_field_bf();
|
|
}
|