mirror of https://github.com/ArduPilot/ardupilot
103 lines
4.0 KiB
C++
103 lines
4.0 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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simulate a payload slung from a line under a vehicle
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*/
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_SLUNGPAYLOAD_ENABLED
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#include <AP_HAL/utility/Socket_native.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/Location.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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namespace SITL {
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// SlungPayloadSim handles interaction with main vehicle
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class SlungPayloadSim {
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public:
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friend class SlungPayload;
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// constructor
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SlungPayloadSim();
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// update the SlungPayloadSim's state using thevehicle's earth-frame position, velocity and acceleration
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void update(const Vector3p& veh_pos, const Vector3f& veh_vel_ef, const Vector3f& veh_accel_ef);
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// get earth-frame forces on the vehicle from slung payload
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// returns true on success and fills in forces_ef argument, false on failure
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bool get_forces_on_vehicle(Vector3f& forces_ef) const;
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// parameter table
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// parameters
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AP_Int8 enable; // enable parameter
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AP_Float weight_kg; // payload weight in kg
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AP_Float line_length; // line length in meters
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AP_Int8 sys_id; // mavlink system id for reporting to GCS
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AP_Float drag_coef; // drag coefficient (spheres=0.5, cubes=1.05, barrels=0.8~1.2)
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// send MAVLink messages to GCS
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void send_report();
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// write onboard log
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void write_log();
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// get payload location
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// returns true on success and fills in payload_loc argument, false on failure
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bool get_payload_location(Location& payload_loc) const;
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// update the slung payload's position, velocity, acceleration
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// vehicle position, velocity and acceleration should be in earth-frame NED frame
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void update_payload(const Vector3p& veh_pos, const Vector3f& veh_vel_ef, const Vector3f& veh_accel_ef, float dt);
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// returns true if the two vectors point in the same direction, false if perpendicular or opposite
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bool vectors_same_direction(const Vector3f& v1, const Vector3f& v2) const;
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// socket connection variables
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const char *target_address = "127.0.0.1";
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const uint16_t target_port = 5763;
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SocketAPM_native mav_socket { false };
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bool initialised; // true if this class has been initialised
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uint32_t last_update_us; // system time of last update
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// mavlink reporting variables
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const float reporting_period_ms = 200; // reporting period in ms
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uint32_t last_report_ms; // system time of last MAVLink report sent to GCS
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uint32_t last_heartbeat_ms; // system time of last MAVLink heartbeat sent to GCS
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bool mavlink_connected; // true if a mavlink connection has been established
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mavlink_status_t mav_status; // reported mavlink status
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// payload variables
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bool landed = true; // true if the payload is on the ground
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float tension_ratio; // 0 if line is loose, 1 if completely taut
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Vector3p payload_to_veh;// distance vector (in meters in NED frame) from payload to vehicle (used for reporting purposes)
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Vector3p position_NED; // payload's position (as an offset from EKF origin? offset from vehicle?) in meters
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Vector3f velocity_NED; // payload velocity
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Vector3f accel_NED; // payload's acceleration
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Vector3f veh_forces_ef; // earth-frame forces on the vehicle caused by the payload
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};
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} // namespace SITL
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#endif // AP_SIM_SLUNGPAYLOAD_ENABLED
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