ardupilot/libraries/SITL/SIM_Aircraft.h

150 lines
3.9 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/>.
*/
/*
parent class for aircraft simulators
*/
#pragma once
#include <AP_Math/AP_Math.h>
#include "SITL.h"
namespace SITL {
/*
parent class for all simulator types
*/
class Aircraft {
public:
Aircraft(const char *home_str, const char *frame_str);
/*
structure passed in giving servo positions as PWM values in
microseconds
*/
struct sitl_input {
uint16_t servos[16];
struct {
float speed; // m/s
float direction; // degrees 0..360
float turbulence;
} wind;
};
/*
set simulation speedup
*/
void set_speedup(float speedup);
/*
set instance number
*/
void set_instance(uint8_t _instance) {
instance = _instance;
}
/*
set directory for additional files such as aircraft models
*/
void set_autotest_dir(const char *_autotest_dir) {
autotest_dir = _autotest_dir;
}
/*
step the FDM by one time step
*/
virtual void update(const struct sitl_input &input) = 0;
/* fill a sitl_fdm structure from the simulator state */
void fill_fdm(struct sitl_fdm &fdm) const;
/* return normal distribution random numbers */
static double rand_normal(double mean, double stddev);
/* parse a home location string */
static bool parse_home(const char *home_str, Location &loc, float &yaw_degrees);
// get frame rate of model in Hz
float get_rate_hz(void) const { return rate_hz; }
protected:
Location home;
Location location;
float ground_level;
float frame_height;
Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
Vector3f gyro; // rad/s
Vector3f velocity_ef; // m/s, earth frame
Vector3f position; // meters, NED from origin
float mass; // kg
Vector3f accel_body; // m/s/s NED, body frame
float airspeed; // m/s, apparent airspeed
float battery_voltage = -1;
float battery_current = 0;
float rpm1 = 0;
float rpm2 = 0;
uint64_t time_now_us;
const float gyro_noise;
const float accel_noise;
float rate_hz;
float achieved_rate_hz;
float target_speedup;
uint64_t frame_time_us;
float scaled_frame_time_us;
uint64_t last_wall_time_us;
uint8_t instance;
const char *autotest_dir;
const char *frame;
bool on_ground(const Vector3f &pos) const;
/* update location from position */
void update_position(void);
/* rotate to the given yaw */
void set_yaw_degrees(float yaw_degrees);
/* advance time by deltat in seconds */
void time_advance(float deltat);
/* setup the frame step time */
void setup_frame_time(float rate, float speedup);
/* adjust frame_time calculation */
void adjust_frame_time(float rate);
/* try to synchronise simulation time with wall clock time, taking
into account desired speedup */
void sync_frame_time(void);
/* add noise based on throttle level (from 0..1) */
void add_noise(float throttle);
/* return wall clock time in microseconds since 1970 */
uint64_t get_wall_time_us(void) const;
private:
uint64_t last_time_us = 0;
uint32_t frame_counter = 0;
const uint32_t min_sleep_time;
};
} // namespace SITL