mirror of
https://github.com/ArduPilot/ardupilot
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11b599bcd0
For the general case, pragma once is better replacement for of include guards. One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
84 lines
2.1 KiB
C++
84 lines
2.1 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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multicopter 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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class to describe a motor position
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*/
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class Motor {
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public:
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float angle;
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bool clockwise;
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uint8_t servo;
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Motor(float _angle, bool _clockwise, uint8_t _servo) :
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angle(_angle), // angle in degrees from front
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clockwise(_clockwise), // clockwise == true, anti-clockwise == false
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servo(_servo) // what servo output drives this motor
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{}
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};
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/*
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class to describe a multicopter frame type
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*/
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class Frame {
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public:
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const char *name;
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uint8_t num_motors;
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const Motor *motors;
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Frame(const char *_name,
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uint8_t _num_motors,
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const Motor *_motors) :
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name(_name),
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num_motors(_num_motors),
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motors(_motors) {}
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};
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/*
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a multicopter simulator
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*/
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class MultiCopter : public Aircraft {
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public:
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MultiCopter(const char *home_str, const char *frame_str);
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/* update model by one time step */
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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 MultiCopter(home_str, frame_str);
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}
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private:
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const Frame *frame;
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float hover_throttle; // 0..1
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float terminal_velocity; // m/s
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const float terminal_rotation_rate;
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float thrust_scale;
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};
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} // namespace SITL
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