ardupilot/libraries/SITL/SIM_Rover.h

54 lines
1.4 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/>.
*/
/*
rover simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
namespace SITL {
/*
a rover simulator
*/
class SimRover : public Aircraft {
public:
SimRover(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 *frame_str) {
return new SimRover(frame_str);
}
private:
float max_speed = 20.0f;
float max_accel = 10.0f;
float max_wheel_turn = 35.0f;
float turning_circle = 1.8f;
float skid_turn_rate = 140.0f;
bool skid_steering;
float turn_circle(float steering);
float calc_yaw_rate(float steering, float speed);
float calc_lat_accel(float steering_angle, float speed);
};
} // namespace SITL