mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.7 KiB
C++
61 lines
1.7 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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multicopter 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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using namespace SITL;
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/*
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class to describe a multicopter frame type
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*/
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class Frame {
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public:
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const char *name;
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uint8_t num_motors;
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const Motor *motors;
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Frame(const char *_name,
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uint8_t _num_motors,
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const Motor *_motors) :
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name(_name),
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num_motors(_num_motors),
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motors(_motors) {}
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// find a frame by name
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static Frame *find_frame(const char *name);
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// initialise frame
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void init(float mass, float hover_throttle, float terminal_velocity, float terminal_rotation_rate);
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// calculate rotational and linear accelerations
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void calculate_forces(const Aircraft &aircraft,
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const Aircraft::sitl_input &input,
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Vector3f &rot_accel, Vector3f &body_accel);
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float terminal_velocity;
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float terminal_rotation_rate;
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float thrust_scale;
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float mass;
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uint8_t motor_offset;
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};
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