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             :   a stratospheric blimp simulator class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #if AP_SIM_STRATOBLIMP_ENABLED
      24             : 
      25             : #include "SIM_Aircraft.h"
      26             : #include <AP_Param/AP_Param.h>
      27             : 
      28             : namespace SITL {
      29             : 
      30             : /*
      31             :   a stratospheric blimp simulator
      32             :  */
      33             : 
      34             : class StratoBlimp : public Aircraft {
      35             : public:
      36             :     StratoBlimp(const char *frame_str);
      37             : 
      38             :     /* update model by one time step */
      39             :     void update(const struct sitl_input &input) override;
      40             : 
      41             :     /* static object creator */
      42           0 :     static Aircraft *create(const char *frame_str) {
      43           0 :         return NEW_NOTHROW StratoBlimp(frame_str);
      44             :     }
      45             : 
      46             :     static const struct AP_Param::GroupInfo var_info[];
      47             : 
      48             : protected:
      49             :     void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
      50             : 
      51             : private:
      52             :     void calculate_coefficients();
      53             :     void handle_motor(float throttle, float tilt, Vector3f &body_acc, Vector3f &rot_accel, float lateral_position);
      54             :     void get_drag(const Vector3f &velocity_linear,
      55             :                   const Vector3f &velocity_rot,
      56             :                   float altitude,
      57             :                   Vector3f &drag_linear, Vector3f &drag_rotaccel);
      58             :     float get_lift(float altitude);
      59             : 
      60             :     float drag_yaw;
      61             :     bool released;
      62             :     bool helper_balloon_attached = true;
      63             : 
      64             :     AP_Float mass;
      65             :     AP_Float helium_mass;
      66             :     AP_Float arm_length;
      67             :     AP_Float motor_thrust;
      68             :     AP_Float drag_fwd;
      69             :     AP_Float drag_side;
      70             :     AP_Float drag_up;
      71             :     AP_Float altitude_target;
      72             :     AP_Float target_climb_rate;
      73             :     AP_Float turn_rate;
      74             :     AP_Float motor_angle;
      75             :     AP_Float yaw_rate_max;
      76             :     AP_Float moi_roll;
      77             :     AP_Float moi_yaw;
      78             :     AP_Float moi_pitch;
      79             :     AP_Float center_of_lift;
      80             :     AP_Float center_of_drag;
      81             :     AP_Float free_lift_rate;
      82             : };
      83             : 
      84             : }
      85             : 
      86             : #endif // AP_SIM_STRATOBLIMP_ENABLED