mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.4 KiB
C++
91 lines
2.4 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 simulator class
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*/
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#include "SIM_Multicopter.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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MultiCopter::MultiCopter(const char *frame_str) :
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Aircraft(frame_str)
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{
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frame = Frame::find_frame(frame_str);
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if (frame == nullptr) {
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printf("Frame '%s' not found", frame_str);
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exit(1);
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}
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frame->init(frame_str, &battery);
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mass = frame->get_mass();
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frame_height = 0.1;
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ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;
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lock_step_scheduled = true;
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}
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// calculate rotational and linear accelerations
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void MultiCopter::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel)
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{
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motor_mask |= ((1U<<frame->num_motors)-1U) << frame->motor_offset;
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frame->calculate_forces(*this, input, rot_accel, body_accel, rpm);
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add_shove_forces(rot_accel, body_accel);
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add_twist_forces(rot_accel);
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#if AP_SIM_SLUNGPAYLOAD_ENABLED
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// add forces from slung payload
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add_slungpayload_forces(body_accel);
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#endif
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}
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/*
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update the multicopter simulation by one time step
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*/
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void MultiCopter::update(const struct sitl_input &input)
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{
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// get wind vector setup
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update_wind(input);
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Vector3f rot_accel;
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calculate_forces(input, rot_accel, accel_body);
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// simulated clamp holding vehicle down
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if (clamp.clamped(*this, input)) {
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rot_accel.zero();
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accel_body.zero();
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}
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// estimate voltage and current
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frame->current_and_voltage(battery_voltage, battery_current);
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battery.set_current(battery_current);
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update_dynamics(rot_accel);
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update_external_payload(input);
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// update lat/lon/altitude
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update_position();
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time_advance();
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// update magnetic field
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update_mag_field_bf();
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}
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