mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.4 KiB
C++
75 lines
2.4 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 plane simulator 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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a very simple plane simulator
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*/
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class Plane : public Aircraft {
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public:
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Plane(const char *home_str, const char *frame_str);
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/* update model by one time step */
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virtual void update(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new Plane(home_str, frame_str);
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}
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protected:
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const float hover_throttle = 0.5f;
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const float cruise_airspeed = 20;
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const float cruise_pitch = radians(4);
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const float terminal_velocity = 35;
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const float wing_efficiency = 0.9;
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const float wing_span = 2.0;
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const float wing_chord = 0.15;
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const float aspect_ratio = wing_span / wing_chord;
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const float wing_area = wing_span * wing_chord;
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const float air_density = 1.225; // kg/m^3 at sea level, ISA conditions
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float angle_of_attack;
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Vector3f velocity_bf;
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// manually tweaked coefficients. Not even close to reality
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struct {
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float drag = 0.01;
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float lift = 3.0;
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float vertical_stabiliser = 0.1;
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float horizontal_stabiliser = 0.001;
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} coefficient;
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float thrust_scale;
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Vector3f terminal_rotation_rate{radians(360), radians(360), radians(180)};
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Vector3f max_rates{radians(350), radians(250), radians(100)};
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float calculate_lift(void) const;
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float calculate_drag_induced(void) const;
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float calculate_drag_form(void) const;
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Vector3f calculate_lift_drag(void) const;
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
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};
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} // namespace SITL
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