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             :   helicopter simulator class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_Aircraft.h"
      22             : 
      23             : namespace SITL {
      24             : 
      25             : /*
      26             :   a helicopter simulator
      27             :  */
      28             : class Helicopter : public Aircraft {
      29             : public:
      30             :     Helicopter(const char *frame_str);
      31             : 
      32             :     /* update model by one time step */
      33             :     void update(const struct sitl_input &input) override;
      34             : 
      35             :     /* static object creator */
      36          80 :     static Aircraft *create(const char *frame_str) {
      37          80 :         return NEW_NOTHROW Helicopter(frame_str);
      38             :     }
      39             : 
      40             : protected:
      41             : 
      42             :     void update_rotor_dynamics(Vector3f gyros, Vector2f ctrl_pos, Vector2f &tpp_angle, float dt);
      43             :     float update_rpm(float curr_rpm, float throttle, float &engine_torque, float collective, float dt);
      44             : 
      45             :     // buffers to provide time delay
      46             :     struct servos_stored {
      47             :         uint16_t servo1;
      48             :         uint16_t servo2;
      49             :         uint16_t servo3;
      50             :         uint16_t servo4;
      51             :         uint16_t servo5;
      52             :         uint16_t servo6;
      53             :     };
      54             :     uint16_t _servos_delayed[6];
      55             :     ObjectBuffer<servos_stored> *servos_stored_buffer;
      56             :     void push_to_buffer(const uint16_t servos_input[16]);
      57             :     void pull_from_buffer(uint16_t servos_delayed[6]);
      58             : 
      59             : 
      60             : private:
      61             :     float terminal_rotation_rate = 4*radians(360.0f);
      62             :     float hover_lean = 3.2f;
      63             :     float rotor_rot_accel = radians(20);
      64             :     float roll_rate_max = radians(1400);
      65             :     float pitch_rate_max = radians(1400);
      66             :     float yaw_rate_max = radians(1400);
      67             :     float izz = 0.2f; 
      68             :     float iyy;
      69             :     float tr_dist = 0.85f;
      70             :     float cyclic_scalar = 7.2; // converts swashplate servo ouputs to cyclic blade pitch
      71             :     float thrust_scale;
      72             :     Vector2f _tpp_angle;
      73             :     Vector2f _tpp_angle_1;
      74             :     Vector2f _tpp_angle_2;
      75             :     float torque_scale;
      76             :     float torque_mpog;
      77             :     float torque_max;
      78             :     float hover_coll = 5.0f;
      79             :     bool motor_interlock;
      80             :     uint8_t _time_delay;
      81             :     enum frame_types {
      82             :         HELI_FRAME_CONVENTIONAL,
      83             :         HELI_FRAME_CONVENTIONAL_DDVPTAIL,
      84             :         HELI_FRAME_CONVENTIONAL_DDFPTAIL,
      85             :         HELI_FRAME_DUAL,
      86             :         HELI_FRAME_COMPOUND,
      87             :         HELI_FRAME_BLADE360,
      88             :     } frame_type = HELI_FRAME_CONVENTIONAL;
      89             :     bool gas_heli = false;
      90             :     float nominal_rpm;
      91             : 
      92             :     // sets power consumption of the helicopter in watts while rotors turning
      93             :     float power_consumption_watts;
      94             :     // battery resistance reference value in Ohms
      95             :     float default_battery_resistance_ohm = 0.01;
      96             :     void update_battery() override;
      97     9075634 :     bool battery_is_empty() { return battery_voltage < 0.5f; };
      98             :     
      99             : };
     100             : 
     101             : } // namespace SITL