mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.9 KiB
C++
75 lines
1.9 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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ROV/AUV/Blimp simulator class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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// #include "SIM_Motor.h"
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// #include "SIM_Frame.h"
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namespace SITL {
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struct Fins
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{
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float angle;
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float last_angle;
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float servo_angle;
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bool dir;
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float vel; // velocity, in m/s
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float T; //Tangential (thrust) force, in Neutons
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float N; //Normal force, in Newtons
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float Fx; //Fx,y,z = Force in bodyframe orientation at servo position, in Newtons
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float Fy;
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float Fz;
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};
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/*
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a blimp simulator
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*/
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class Blimp : public Aircraft {
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public:
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Blimp(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 Blimp(frame_str);
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}
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protected:
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float mass; //kilograms
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float radius; //metres
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Vector3f moment_of_inertia;
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Vector3f cog; //centre of gravity location relative to center of blimp
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//Airfish-specific variables
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Fins fin[4];
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float k_tan; //Tangential and normal force multipliers
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float k_nor;
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float drag_constant;
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float drag_gyr_constant;
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
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float sq(float a) {return powf(a,2);}
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};
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}
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