Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   BalanceBot simulator class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_Aircraft.h"
      22             : 
      23             : namespace SITL {
      24             : 
      25             : class BalanceBot : public Aircraft {
      26             : public:
      27             :     BalanceBot(const char *frame_str);
      28             : 
      29             :     /* update model by one time step */
      30             :     void update(const struct sitl_input &input) override;
      31             : 
      32             :     /* static object creator */
      33          32 :     static Aircraft *create(const char *frame_str) {
      34          32 :         return NEW_NOTHROW BalanceBot(frame_str);
      35             :     }
      36             : 
      37             : private:
      38             :     // vehicle frame x velocity
      39             :     float velocity_vf_x;
      40             : 
      41             :     float skid_turn_rate;
      42             : 
      43             :     float calc_yaw_rate(float steering) const;
      44             : };
      45             : 
      46             : } // namespace SITL