mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.8 KiB
C++
67 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/>.
|
|
*/
|
|
/*
|
|
simple quadplane simulator class
|
|
*/
|
|
|
|
#include "SIM_QuadPlane.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
using namespace SITL;
|
|
|
|
static const Motor quad_motors[4] =
|
|
{
|
|
Motor(45, false, 5),
|
|
Motor(225, false, 6),
|
|
Motor(315, true, 7),
|
|
Motor(135, true, 8)
|
|
};
|
|
|
|
static Frame quad_frame("x", 4, quad_motors);
|
|
|
|
QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
|
|
Plane(home_str, frame_str)
|
|
{
|
|
frame = &quad_frame;
|
|
// we use a very high terminal velocity to let the plane model handle the drag
|
|
frame->init(mass, 0.51, 100, 20*radians(360));
|
|
}
|
|
|
|
/*
|
|
update the quadplane simulation by one time step
|
|
*/
|
|
void QuadPlane::update(const struct sitl_input &input)
|
|
{
|
|
// first plane forces
|
|
Vector3f rot_accel;
|
|
calculate_forces(input, rot_accel, accel_body);
|
|
|
|
// now quad forces
|
|
Vector3f quad_rot_accel;
|
|
Vector3f quad_accel_body;
|
|
|
|
frame->calculate_forces(*this, input, quad_rot_accel, quad_accel_body);
|
|
|
|
rot_accel += quad_rot_accel;
|
|
accel_body += quad_accel_body;
|
|
|
|
update_dynamics(rot_accel);
|
|
|
|
// update lat/lon/altitude
|
|
update_position();
|
|
}
|