ardupilot/libraries/SITL/SIM_Helicopter.h

64 lines
1.8 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/>.
*/
/*
helicopter simulator class
*/
#ifndef _SIM_HELICOPTER_H
#define _SIM_HELICOPTER_H
#include "SIM_Aircraft.h"
/*
a helicopter simulator
*/
class Helicopter : public Aircraft
{
public:
Helicopter(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 Helicopter(home_str, frame_str);
}
private:
float terminal_rotation_rate = 4*radians(360.0f);
float hover_throttle = 0.65f;
float terminal_velocity = 40;
float hover_lean = 8.0f;
float yaw_zero = 0.1f;
float rotor_rot_accel = radians(20);
float roll_rate_max = radians(1400);
float pitch_rate_max = radians(1400);
float yaw_rate_max = radians(1400);
float rsc_setpoint = 0.8f;
float thrust_scale;
float tail_thrust_scale;
enum frame_types {
HELI_FRAME_CONVENTIONAL,
HELI_FRAME_DUAL,
HELI_FRAME_COMPOUND
} frame_type = HELI_FRAME_CONVENTIONAL;
bool gas_heli = false;
};
#endif // _SIM_HELICOPTER_H