ardupilot/libraries/SITL/SIM_Multicopter.h

85 lines
2.1 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
/*
multicopter simulator class
*/
#ifndef _SIM_MULTICOPTER_H
#define _SIM_MULTICOPTER_H
#include "SIM_Aircraft.h"
/*
class to describe a motor position
*/
class Motor {
public:
float angle;
bool clockwise;
uint8_t servo;
Motor(float _angle, bool _clockwise, uint8_t _servo) :
angle(_angle), // angle in degrees from front
clockwise(_clockwise), // clockwise == true, anti-clockwise == false
servo(_servo) // what servo output drives this motor
{}
};
/*
class to describe a multicopter frame type
*/
class Frame {
public:
const char *name;
uint8_t num_motors;
const Motor *motors;
Frame(const char *_name,
uint8_t _num_motors,
const Motor *_motors) :
name(_name),
num_motors(_num_motors),
motors(_motors) {}
};
/*
a multicopter simulator
*/
class MultiCopter : public Aircraft
{
public:
MultiCopter(const char *home_str, const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input);
/* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new MultiCopter(home_str, frame_str);
}
private:
const Frame *frame;
float hover_throttle; // 0..1
float terminal_velocity; // m/s
const float terminal_rotation_rate;
float thrust_scale;
};
#endif // _SIM_MULTICOPTER_H