mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.7 KiB
C++
129 lines
3.7 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 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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#include "SIM_ICEngine.h"
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#include <Filter/LowPassFilter.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 *frame_str);
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/* update model by one time step */
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virtual void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return new Plane(frame_str);
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}
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protected:
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const float hover_throttle = 0.7f;
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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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float beta;
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struct {
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// from last_letter skywalker_2013/aerodynamics.yaml
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// thanks to Georacer!
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float s = 0.45;
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float b = 1.88;
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float c = 0.24;
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float c_lift_0 = 0.56;
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float c_lift_deltae = 0;
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float c_lift_a = 6.9;
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float c_lift_q = 0;
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float mcoeff = 50;
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float oswald = 0.9;
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float alpha_stall = 0.4712;
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float c_drag_q = 0;
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float c_drag_deltae = 0.0;
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float c_drag_p = 0.1;
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float c_y_0 = 0;
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float c_y_b = -0.98;
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float c_y_p = 0;
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float c_y_r = 0;
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float c_y_deltaa = 0;
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float c_y_deltar = -0.2;
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float c_l_0 = 0;
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float c_l_p = -1.0;
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float c_l_b = -0.12;
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float c_l_r = 0.14;
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float c_l_deltaa = 0.25;
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float c_l_deltar = -0.037;
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float c_m_0 = 0.045;
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float c_m_a = -0.7;
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float c_m_q = -20;
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float c_m_deltae = 1.0;
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float c_n_0 = 0;
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float c_n_b = 0.25;
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float c_n_p = 0.022;
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float c_n_r = -1;
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float c_n_deltaa = 0.00;
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float c_n_deltar = 0.1;
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float deltaa_max = 0.3491;
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float deltae_max = 0.3491;
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float deltar_max = 0.3491;
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// the X CoG offset should be -0.02, but that makes the plane too tail heavy
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// in manual flight. Adjusted to -0.15 gives reasonable flight
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Vector3f CGOffset{-0.15, 0, -0.05};
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} coefficient;
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float thrust_scale;
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bool reverse_thrust;
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bool elevons;
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bool vtail;
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bool dspoilers;
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bool reverse_elevator_rudder;
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bool ice_engine;
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bool tailsitter;
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bool copter_tailsitter;
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bool have_launcher;
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float launch_accel;
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float launch_time;
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uint64_t launch_start_ms;
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const uint8_t throttle_servo = 2;
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const int8_t choke_servo = 14;
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const int8_t ignition_servo = 12;
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const int8_t starter_servo = 13;
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const float slewrate = 100;
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ICEngine icengine{
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throttle_servo,
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choke_servo,
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ignition_servo,
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starter_servo,
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slewrate
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};
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float liftCoeff(float alpha) const;
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float dragCoeff(float alpha) const;
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Vector3f getForce(float inputAileron, float inputElevator, float inputRudder) const;
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Vector3f getTorque(float inputAileron, float inputElevator, float inputRudder, float inputThrust, const Vector3f &force) const;
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void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel);
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};
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} // namespace SITL
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