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             :   ROV/AUV/Blimp simulator class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_Aircraft.h"
      22             : // #include "SIM_Motor.h"
      23             : // #include "SIM_Frame.h"
      24             : 
      25             : namespace SITL {
      26             : 
      27             : struct Fins
      28             : {
      29             :   float angle;
      30             :   float last_angle;
      31             :   float servo_angle;
      32             :   bool dir;
      33             :   float vel; // ang velocity, in deg/s
      34             :   float T; //Tangential (thrust) force, in Neutons
      35             :   float N; //Normal force, in Newtons
      36             :   float Fx; //Fx,y,z = Force in bodyframe orientation at servo position, in Newtons
      37             :   float Fy;
      38             :   float Fz;
      39             : };
      40             : 
      41             : struct Motors
      42             : {
      43             :   float throttle;
      44             :   float thrust;
      45             :   float Fx; //Fx,y,z = Force in bodyframe orientation at servo position, in Newtons
      46             :   float Fy;
      47             :   float Fz;
      48             : };
      49             : 
      50             : /*
      51             :   a blimp simulator
      52             :  */
      53             : 
      54             : class Blimp : public Aircraft {
      55             : public:
      56             :     Blimp(const char *frame_str);
      57             : 
      58             :     /* update model by one time step */
      59             :     void update(const struct sitl_input &input) override;
      60             : 
      61             :     /* static object creator */
      62           0 :     static Aircraft *create(const char *frame_str) {
      63           0 :         return NEW_NOTHROW Blimp(frame_str);
      64             :     }
      65             : 
      66             : protected:
      67             :     float mass; //kilograms
      68             :     float radius; //metres
      69             :     Vector3f moment_of_inertia;
      70             :     Vector3f cog; //centre of gravity location relative to center of blimp
      71             : 
      72             :     //Airfish-specific variables
      73             :     Fins fin[4];
      74             :     Motors mot[4];
      75             :     float gondolawidth;
      76             :     float k_tan; //Tangential and normal force multipliers
      77             :     float k_nor;
      78             :     float k_m;
      79             :     float drag_constant;
      80             :     float drag_gyr_constant;
      81             :     float drag_lin_constant;
      82             :     float drag_gyr_lin_constant;
      83             : 
      84             :     bool motorblimp = false;
      85             : 
      86             :     void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
      87             :     void update_battery() override;
      88           0 :     bool battery_is_empty() { return battery_voltage < 0.5f; };
      89           0 :     float sq(float a) {return powf(a,2);}
      90             : };
      91             : 
      92             : }