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             :   multicopter 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             : /*
      28             :   a multicopter simulator
      29             :  */
      30             : class MultiCopter : public Aircraft {
      31             : public:
      32             :     MultiCopter(const char *frame_str);
      33             : 
      34             :     ~MultiCopter() {
      35             :         delete frame;
      36             :     }
      37             : 
      38             :     /* update model by one time step */
      39             :     void update(const struct sitl_input &input) override;
      40             : 
      41             :     /* static object creator */
      42         909 :     static Aircraft *create(const char *frame_str) {
      43         909 :         return NEW_NOTHROW MultiCopter(frame_str);
      44             :     }
      45             : 
      46             : protected:
      47             :     // calculate rotational and linear accelerations
      48             :     void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
      49             :     Frame *frame;
      50             :     void update_battery() override;
      51             : };
      52             : 
      53             : }