mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
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/>.
|
|
*/
|
|
/*
|
|
multicopter simulator class
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "SIM_Aircraft.h"
|
|
#include "SIM_Motor.h"
|
|
#include "SIM_Frame.h"
|
|
|
|
namespace SITL {
|
|
|
|
/*
|
|
a multicopter simulator
|
|
*/
|
|
class MultiCopter : public Aircraft {
|
|
public:
|
|
MultiCopter(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 MultiCopter(home_str, frame_str);
|
|
}
|
|
|
|
protected:
|
|
// calculate rotational and linear accelerations
|
|
void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
|
|
Frame *frame;
|
|
};
|
|
|
|
}
|