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             :   single copter simulator class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_Aircraft.h"
      22             : #include <AP_Motors/AP_Motors.h>
      23             : 
      24             : namespace SITL {
      25             : 
      26             : /*
      27             :   a single copter simulator
      28             :  */
      29             : class SingleCopter : public Aircraft {
      30             : public:
      31             :     SingleCopter(const char *frame_str);
      32             : 
      33             :     /* update model by one time step */
      34             :     void update(const struct sitl_input &input) override;
      35             : 
      36             :     /* static object creator */
      37           2 :     static Aircraft *create(const char *frame_str) {
      38           2 :         return NEW_NOTHROW SingleCopter(frame_str);
      39             :     }
      40             : 
      41             : private:
      42             :     float terminal_rotation_rate = 4*radians(360.0f);
      43             :     float hover_throttle = 0.65f;
      44             :     float terminal_velocity = 40;
      45             :     float rotor_rot_accel = radians(20) * AP_MOTORS_MATRIX_YAW_FACTOR_CW;
      46             :     float roll_rate_max = radians(700);
      47             :     float pitch_rate_max = radians(700);
      48             :     float yaw_rate_max = radians(700);
      49             :     float thrust_scale;
      50             : 
      51             :     enum {
      52             :         FRAME_SINGLE,
      53             :         FRAME_COAX,
      54             :     } frame_type;
      55             : };
      56             : 
      57             : } // namespace SITL