mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
/*
|
|
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/>.
|
|
*/
|
|
/*
|
|
multicopter simulator class
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "SIM_Aircraft.h"
|
|
#include "SIM_Motor.h"
|
|
|
|
namespace SITL {
|
|
|
|
/*
|
|
class to describe a multicopter frame type
|
|
*/
|
|
class Frame {
|
|
public:
|
|
const char *name;
|
|
uint8_t num_motors;
|
|
Motor *motors;
|
|
|
|
Frame(const char *_name,
|
|
uint8_t _num_motors,
|
|
Motor *_motors) :
|
|
name(_name),
|
|
num_motors(_num_motors),
|
|
motors(_motors) {}
|
|
|
|
|
|
// find a frame by name
|
|
static Frame *find_frame(const char *name);
|
|
|
|
// initialise frame
|
|
void init(float mass, float hover_throttle, float terminal_velocity, float terminal_rotation_rate);
|
|
|
|
// calculate rotational and linear accelerations
|
|
void calculate_forces(const Aircraft &aircraft,
|
|
const Aircraft::sitl_input &input,
|
|
Vector3f &rot_accel, Vector3f &body_accel);
|
|
|
|
float terminal_velocity;
|
|
float terminal_rotation_rate;
|
|
float thrust_scale;
|
|
uint8_t motor_offset;
|
|
|
|
// calculate current and voltage
|
|
void current_and_voltage(const Aircraft::sitl_input &input, float &voltage, float ¤t);
|
|
};
|
|
}
|