mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.7 KiB
C++
143 lines
3.7 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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#pragma once
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#include "SIM_Aircraft.h"
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#include "SIM_Motor.h"
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namespace SITL {
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/*
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class to describe a multicopter frame type
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*/
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class Frame {
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public:
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const char *name;
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uint8_t num_motors;
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Motor *motors;
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Frame(const char *_name,
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uint8_t _num_motors,
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Motor *_motors) :
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name(_name),
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num_motors(_num_motors),
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motors(_motors) {}
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// find a frame by name
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static Frame *find_frame(const char *name);
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// initialise frame
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void init(const char *frame_str, Battery *_battery);
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// calculate rotational and linear accelerations
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void calculate_forces(const Aircraft &aircraft,
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const struct sitl_input &input,
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Vector3f &rot_accel, Vector3f &body_accel, float* rpm,
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bool use_drag=true);
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float terminal_velocity;
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float terminal_rotation_rate;
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uint8_t motor_offset;
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// calculate current and voltage
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void current_and_voltage(float &voltage, float ¤t);
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// get mass in kg
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float get_mass(void) const {
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return mass;
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}
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// set mass in kg
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void set_mass(float new_mass) {
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mass = new_mass;
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}
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private:
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/*
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parameters that define the multicopter model. Can be loaded from
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a json file to give a custom model
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*/
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const struct Model {
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// model mass kg
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float mass = 3.0;
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// diameter of model
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float diagonal_size = 0.35;
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/*
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the ref values are for a test at fixed angle, used to estimate drag
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*/
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float refSpd = 15.08; // m/s
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float refAngle = 45; // degrees
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float refVoltage = 12.09; // Volts
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float refCurrent = 29.3; // Amps
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float refAlt = 593; // altitude AMSL
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float refTempC = 25; // temperature C
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float refBatRes = 0.01; // BAT.Res
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// full pack voltage
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float maxVoltage = 4.2*3;
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// battery capacity in Ah. Use zero for unlimited
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float battCapacityAh = 0.0;
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// CTUN.ThO at bover at refAlt
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float hoverThrOut = 0.39;
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// MOT_THST_EXPO
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float propExpo = 0.65;
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// scaling factor for yaw response, deg/sec
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float refRotRate = 120;
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// MOT params are from the reference test
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// MOT_PWM_MIN
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float pwmMin = 1000;
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// MOT_PWM_MAX
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float pwmMax = 2000;
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// MOT_SPIN_MIN
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float spin_min = 0.15;
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// MOT_SPIN_MAX
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float spin_max = 0.95;
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// maximum slew rate of motors
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float slew_max = 150;
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} default_model;
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struct Model model;
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// exposed area times coefficient of drag
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float areaCd;
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float mass;
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float velocity_max;
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float thrust_max;
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float effective_prop_area;
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Battery *battery;
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float last_param_voltage;
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// get air density in kg/m^3
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float get_air_density(float alt_amsl) const;
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// load frame parameters from a json model file
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void load_frame_params(const char *model_json);
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};
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}
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