mirror of https://github.com/ArduPilot/ardupilot
246 lines
10 KiB
C++
246 lines
10 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 frame simulator class
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*/
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#include "SIM_Frame.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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static Motor quad_plus_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
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Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
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Motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
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Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
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};
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static Motor quad_x_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
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Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
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Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
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Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
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};
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static Motor tiltquad_h_vectored_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, 7, 10, -90),
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Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, 8, 10, -90),
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Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4, -1, 0, 0, 8, 10, -90),
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Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 7, 10, -90),
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};
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static Motor hexa_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
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Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
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Motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
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Motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
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Motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
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Motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
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};
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static Motor hexax_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
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Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
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Motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
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Motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
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Motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
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Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4)
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};
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static Motor octa_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
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Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
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Motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
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Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
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Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
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Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
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Motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
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Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
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};
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static Motor octa_quad_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
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Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
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Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
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Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
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Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
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Motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
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Motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
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Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
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};
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static Motor dodeca_hexa_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
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Motor(AP_MOTORS_MOT_2, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
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Motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
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Motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
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Motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
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Motor(AP_MOTORS_MOT_6, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
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Motor(AP_MOTORS_MOT_7, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
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Motor(AP_MOTORS_MOT_8, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
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Motor(AP_MOTORS_MOT_9, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
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Motor(AP_MOTORS_MOT_10, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10),
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Motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11),
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Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12)
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};
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static Motor tri_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
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Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
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Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
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};
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static Motor tilttri_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
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Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
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Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
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};
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static Motor tilttri_vectored_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 7, 10, -90),
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Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, 8, 10, -90),
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Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2)
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};
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static Motor y6_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
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Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
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Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
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Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
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Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
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Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
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};
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/*
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FireflyY6 is a Y6 with front motors tiltable using servo on channel 9 (output 8)
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*/
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static Motor firefly_motors[] =
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{
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Motor(AP_MOTORS_MOT_1, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
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Motor(AP_MOTORS_MOT_2, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 6, 0, -90),
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Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5, -1, 0, 0, 6, 0, -90),
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Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
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Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2, -1, 0, 0, 6, 0, -90),
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Motor(AP_MOTORS_MOT_6, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6, -1, 0, 0, 6, 0, -90)
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};
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/*
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table of supported frame types. String order is important for
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partial name matching
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*/
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static Frame supported_frames[] =
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{
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Frame("+", 4, quad_plus_motors),
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Frame("quad", 4, quad_plus_motors),
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Frame("copter", 4, quad_plus_motors),
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Frame("x", 4, quad_x_motors),
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Frame("tilthvec", 4, tiltquad_h_vectored_motors),
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Frame("hexax", 6, hexax_motors),
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Frame("hexa", 6, hexa_motors),
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Frame("octa-quad", 8, octa_quad_motors),
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Frame("octa", 8, octa_motors),
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Frame("dodeca-hexa", 12, dodeca_hexa_motors),
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Frame("tri", 3, tri_motors),
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Frame("tilttrivec",3, tilttri_vectored_motors),
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Frame("tilttri", 3, tilttri_motors),
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Frame("y6", 6, y6_motors),
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Frame("firefly", 6, firefly_motors)
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};
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void Frame::init(float _mass, float hover_throttle, float _terminal_velocity, float _terminal_rotation_rate)
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{
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/*
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scaling from total motor power to Newtons. Allows the copter
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to hover against gravity when each motor is at hover_throttle
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*/
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thrust_scale = (_mass * GRAVITY_MSS) / (num_motors * hover_throttle);
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terminal_velocity = _terminal_velocity;
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terminal_rotation_rate = _terminal_rotation_rate;
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}
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/*
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find a frame by name
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*/
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Frame *Frame::find_frame(const char *name)
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{
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for (uint8_t i=0; i < ARRAY_SIZE(supported_frames); i++) {
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// do partial name matching to allow for frame variants
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if (strncasecmp(name, supported_frames[i].name, strlen(supported_frames[i].name)) == 0) {
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return &supported_frames[i];
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}
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}
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return nullptr;
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}
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// calculate rotational and linear accelerations
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void Frame::calculate_forces(const Aircraft &aircraft,
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const struct sitl_input &input,
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Vector3f &rot_accel,
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Vector3f &body_accel)
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{
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Vector3f thrust; // newtons
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for (uint8_t i=0; i<num_motors; i++) {
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Vector3f mraccel, mthrust;
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motors[i].calculate_forces(input, thrust_scale, motor_offset, mraccel, mthrust);
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rot_accel += mraccel;
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thrust += mthrust;
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}
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body_accel = thrust/aircraft.gross_mass();
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if (terminal_rotation_rate > 0) {
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// rotational air resistance
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const Vector3f &gyro = aircraft.get_gyro();
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rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate;
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rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate;
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rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
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}
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if (terminal_velocity > 0) {
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// air resistance
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Vector3f air_resistance = -aircraft.get_velocity_air_ef() * (GRAVITY_MSS/terminal_velocity);
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body_accel += aircraft.get_dcm().transposed() * air_resistance;
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}
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// add some noise
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const float gyro_noise = radians(0.1);
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const float accel_noise = 0.3;
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const float noise_scale = thrust.length() / (thrust_scale * num_motors);
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rot_accel += Vector3f(aircraft.rand_normal(0, 1),
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aircraft.rand_normal(0, 1),
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aircraft.rand_normal(0, 1)) * gyro_noise * noise_scale;
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body_accel += Vector3f(aircraft.rand_normal(0, 1),
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aircraft.rand_normal(0, 1),
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aircraft.rand_normal(0, 1)) * accel_noise * noise_scale;
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}
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