mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
767773da5e
this takes account of motor expo, velocity of air over propellers, mass, size and other factors It also allows for frame parameters to be supplied as an external json file
78 lines
2.0 KiB
C++
78 lines
2.0 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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multicopter simulator class
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*/
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#include "SIM_Multicopter.h"
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#include <AP_Motors/AP_Motors.h>
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#include <stdio.h>
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using namespace SITL;
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MultiCopter::MultiCopter(const char *frame_str) :
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Aircraft(frame_str)
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{
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frame = Frame::find_frame(frame_str);
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if (frame == nullptr) {
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printf("Frame '%s' not found", frame_str);
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exit(1);
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}
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frame->init(frame_str);
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mass = frame->get_mass();
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frame_height = 0.1;
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num_motors = frame->num_motors;
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ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;
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}
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// calculate rotational and linear accelerations
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void MultiCopter::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel)
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{
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frame->calculate_forces(*this, input, rot_accel, body_accel, rpm);
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add_shove_forces(rot_accel, body_accel);
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add_twist_forces(rot_accel);
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}
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/*
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update the multicopter simulation by one time step
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*/
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void MultiCopter::update(const struct sitl_input &input)
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{
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// get wind vector setup
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update_wind(input);
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Vector3f rot_accel;
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calculate_forces(input, rot_accel, accel_body);
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// estimate voltage and current
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frame->current_and_voltage(battery_voltage, battery_current);
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update_dynamics(rot_accel);
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update_external_payload(input);
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// update lat/lon/altitude
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update_position();
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time_advance();
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// update magnetic field
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update_mag_field_bf();
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}
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