mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.6 KiB
C++
58 lines
1.6 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/>.
|
|
*/
|
|
/*
|
|
single copter simulator class
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "SIM_Aircraft.h"
|
|
#include <AP_Motors/AP_Motors.h>
|
|
|
|
namespace SITL {
|
|
|
|
/*
|
|
a single copter simulator
|
|
*/
|
|
class SingleCopter : public Aircraft {
|
|
public:
|
|
SingleCopter(const char *home_str, const char *frame_str);
|
|
|
|
/* update model by one time step */
|
|
void update(const struct sitl_input &input) override;
|
|
|
|
/* static object creator */
|
|
static Aircraft *create(const char *home_str, const char *frame_str) {
|
|
return new SingleCopter(home_str, frame_str);
|
|
}
|
|
|
|
private:
|
|
float terminal_rotation_rate = 4*radians(360.0f);
|
|
float hover_throttle = 0.65f;
|
|
float terminal_velocity = 40;
|
|
float rotor_rot_accel = radians(20) * AP_MOTORS_MATRIX_YAW_FACTOR_CW;
|
|
float roll_rate_max = radians(700);
|
|
float pitch_rate_max = radians(700);
|
|
float yaw_rate_max = radians(700);
|
|
float thrust_scale;
|
|
|
|
enum {
|
|
FRAME_SINGLE,
|
|
FRAME_COAX,
|
|
} frame_type;
|
|
};
|
|
|
|
} // namespace SITL
|