mirror of
https://github.com/ArduPilot/ardupilot
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39 lines
1.5 KiB
C++
39 lines
1.5 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 electric motor simulator class
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*/
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#include "SIM_Motor.h"
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#include <AP_Motors/AP_Motors.h>
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using namespace SITL;
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// calculate rotational accel and thrust for a motor
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void Motor::calculate_forces(const Aircraft::sitl_input &input,
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const float thrust_scale,
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uint8_t motor_offset,
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Vector3f &rot_accel,
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Vector3f &thrust) const
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{
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float motor_speed = constrain_float((input.servos[motor_offset+servo]-1100)/900.0, 0, 1);
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rot_accel.x = -radians(5000.0) * sinf(radians(angle)) * motor_speed;
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rot_accel.y = radians(5000.0) * cosf(radians(angle)) * motor_speed;
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rot_accel.z = yaw_factor * motor_speed * radians(400.0);
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thrust(0, 0, motor_speed * thrust_scale); // newtons
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}
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