mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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simple quadplane simulator class
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*/
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#include "SIM_QuadPlane.h"
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#include <stdio.h>
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using namespace SITL;
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QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
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Plane(home_str, frame_str)
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{
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// see if we want a tiltrotor
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if (strstr(frame_str, "-tilt")) {
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tiltrotors = true;
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}
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// default to X frame
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const char *frame_type = "x";
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if (strstr(frame_str, "-octa-quad")) {
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frame_type = "octa-quad";
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} else if (strstr(frame_str, "-octaquad")) {
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frame_type = "octa-quad";
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} else if (strstr(frame_str, "-octa")) {
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frame_type = "octa";
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} else if (strstr(frame_str, "-hexax")) {
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frame_type = "hexax";
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} else if (strstr(frame_str, "-hexa")) {
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frame_type = "hexa";
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} else if (strstr(frame_str, "-plus")) {
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frame_type = "+";
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}
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frame = Frame::find_frame(frame_type);
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if (frame == nullptr) {
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printf("Failed to find frame '%s'\n", frame_type);
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exit(1);
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}
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// leave first 4 servos free for plane
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frame->motor_offset = 4;
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// we use zero terminal velocity to let the plane model handle the drag
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frame->init(mass, 0.51, 0, 0);
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}
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/*
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update the quadplane simulation by one time step
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*/
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void QuadPlane::update(const struct sitl_input &input)
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{
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// first plane forces
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Vector3f rot_accel;
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calculate_forces(input, rot_accel, accel_body);
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// now quad forces
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Vector3f quad_rot_accel;
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Vector3f quad_accel_body;
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frame->calculate_forces(*this, input, quad_rot_accel, quad_accel_body);
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if (tiltrotors) {
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// get rotor tilt from channel 9
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float tilt = constrain_float(-90 * (input.servos[8]-1000)*0.001, -90, 0);
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// rotate the rotational accel and body accel from multicopter
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// model to take account of rotor tilt
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Matrix3f rotation;
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rotation.identity();
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rotation.rotate(Vector3f(0, radians(tilt), 0));
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quad_rot_accel = rotation * quad_rot_accel;
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quad_accel_body = rotation * quad_accel_body;
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}
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rot_accel += quad_rot_accel;
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accel_body += quad_accel_body;
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update_dynamics(rot_accel);
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// update lat/lon/altitude
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update_position();
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}
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