ardupilot/libraries/SITL/SIM_last_letter.h

76 lines
2.0 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/>.
*/
/*
simulator connection for ardupilot version of last_letter
*/
#pragma once
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
a last_letter simulator
*/
class last_letter : public Aircraft {
public:
last_letter(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 last_letter(home_str, frame_str);
}
private:
static const uint16_t fdm_port = 5002;
/*
packet sent to last_letter
*/
struct servo_packet {
uint16_t servos[16];
};
/*
reply packet sent from last_letter to ArduPilot
*/
struct fdm_packet {
uint64_t timestamp_us; // simulation time in microseconds
double latitude, longitude;
double altitude;
double heading;
double speedN, speedE, speedD;
double xAccel, yAccel, zAccel;
double rollRate, pitchRate, yawRate;
double roll, pitch, yaw;
double airspeed;
};
void recv_fdm(const struct sitl_input &input);
void send_servos(const struct sitl_input &input);
void start_last_letter(void);
uint64_t last_timestamp_us;
SocketAPM sock;
};
} // namespace SITL