mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.9 KiB
C++
125 lines
3.9 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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simple electric motor simulation class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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class to describe a motor position
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*/
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class Motor {
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public:
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float angle;
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float yaw_factor;
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uint8_t servo;
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uint8_t display_order;
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// support for tilting motors
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int8_t roll_servo = -1;
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float roll_min, roll_max;
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int8_t pitch_servo = -1;
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float pitch_min, pitch_max;
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// support for servo slew rate
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enum {SERVO_NORMAL, SERVO_RETRACT} servo_type;
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float servo_rate = 0.24; // seconds per 60 degrees
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uint64_t last_change_usec;
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float last_roll_value, last_pitch_value;
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) :
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servo(_servo), // what servo output drives this motor
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angle(_angle), // angle in degrees from front
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yaw_factor(_yaw_factor), // positive is clockwise
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display_order(_display_order) // order for clockwise display
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{}
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/*
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alternative constructor for tiltable motors
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*/
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Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order,
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int8_t _roll_servo, float _roll_min, float _roll_max,
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int8_t _pitch_servo, float _pitch_min, float _pitch_max) :
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servo(_servo), // what servo output drives this motor
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angle(_angle), // angle in degrees from front
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yaw_factor(_yaw_factor), // positive is clockwise
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display_order(_display_order), // order for clockwise display
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roll_servo(_roll_servo),
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roll_min(_roll_min),
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roll_max(_roll_max),
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pitch_servo(_pitch_servo),
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pitch_min(_pitch_min),
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pitch_max(_pitch_max)
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{}
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void calculate_forces(const struct sitl_input &input,
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uint8_t motor_offset,
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Vector3f &rot_accel, // rad/sec
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Vector3f &body_thrust, // Z is down
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const Vector3f &velocity_air_bf,
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float air_density,
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float velocity_max,
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float effective_prop_area,
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float voltage);
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uint16_t update_servo(uint16_t demand, uint64_t time_usec, float &last_value) const;
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// get current
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float get_current(void) const;
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// convert a PWM value to a thrust demand from 0 to 1
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float pwm_to_command(float pwm) const;
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// setup motor key parameters
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void setup_params(uint16_t _pwm_min, uint16_t _pwm_max, float _spin_min, float _spin_max, float _expo, float _slew_max,
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float _vehicle_mass, float _diagonal_size, float _power_factor, float _voltage_max);
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// override slew limit
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void set_slew_max(float _slew_max) {
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slew_max = _slew_max;
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}
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float get_command(void) const {
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return last_command;
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}
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// calculate thrust of motor
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float calc_thrust(float command, float air_density, float effective_prop_area, float velocity_in, float velocity_max) const;
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private:
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float mot_pwm_min;
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float mot_pwm_max;
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float mot_spin_min;
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float mot_spin_max;
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float mot_expo;
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float slew_max;
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float vehicle_mass;
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float diagonal_size;
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float current;
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float power_factor;
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float voltage_max;
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Vector3f moment_of_inertia;
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float last_command;
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uint64_t last_calc_us;
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};
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}
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