-
Notifications
You must be signed in to change notification settings - Fork 17.2k
/
SIM_Frame.cpp
618 lines (544 loc) · 24.5 KB
/
SIM_Frame.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
multicopter frame simulator class
*/
#include "SIM_Frame.h"
#include <AP_Motors/AP_Motors.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include "SIM_Aircraft.h"
#include <stdio.h>
#include <sys/stat.h>
using namespace SITL;
static Motor quad_plus_motors[] =
{
Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
Motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
};
static Motor quad_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
};
// motor order to match betaflight conventions
// See: https://fpvfrenzy.com/betaflight-motor-order/
static Motor quad_bf_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,1),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3),
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
};
// motor order to match betaflight conventions, reversed direction
static Motor quad_bf_x_rev_motors[] =
{
Motor(AP_MOTORS_MOT_1, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
};
// motor order to match DJI conventions
// See: https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
static Motor quad_dji_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
};
// motor order so that test order matches motor order ("clockwise X")
static Motor quad_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
};
static Motor tiltquad_h_vectored_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1, -1, 0, 0, 7, 10, -90),
Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 7, 10, -90),
};
static Motor tiltquad[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 7, 10, -90),
Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
};
static Motor hexa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
Motor(AP_MOTORS_MOT_3,-120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
Motor(AP_MOTORS_MOT_4, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_5, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
Motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
};
static Motor hexax_motors[] =
{
Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_5, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4)
};
static Motor hexa_dji_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_3, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_6, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2)
};
static Motor hexa_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
};
static Motor octa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
Motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
Motor(AP_MOTORS_MOT_7, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
};
static Motor octa_dji_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_3, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_4, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_7, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_8, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2)
};
static Motor octa_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8)
};
static Motor octa_quad_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
Motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
Motor(AP_MOTORS_MOT_5, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
Motor(AP_MOTORS_MOT_6, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_7, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
};
static Motor octa_quad_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8)
};
static Motor dodeca_hexa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
Motor(AP_MOTORS_MOT_4, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
Motor(AP_MOTORS_MOT_5, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
Motor(AP_MOTORS_MOT_8, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8),
Motor(AP_MOTORS_MOT_9, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10),
Motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11),
Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12)
};
static Motor deca_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 108, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -108, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_9, -72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -36, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10)
};
static Motor deca_cw_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, 54, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_3, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 126, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 162, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, -162, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6),
Motor(AP_MOTORS_MOT_7, -126, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8),
Motor(AP_MOTORS_MOT_9, -54, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -18, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10)
};
static Motor tri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
};
static Motor tilttri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
};
static Motor tilttri_vectored_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 7, 10, -90),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2)
};
static Motor y6_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
};
/*
FireflyY6 is a Y6 with front motors tiltable using servo on channel 9 (output 8)
*/
static Motor firefly_motors[] =
{
Motor(AP_MOTORS_MOT_1, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_2, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, 6, 0, -90),
Motor(AP_MOTORS_MOT_3, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5, -1, 0, 0, 6, 0, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4),
Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2, -1, 0, 0, 6, 0, -90),
Motor(AP_MOTORS_MOT_6, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6, -1, 0, 0, 6, 0, -90)
};
/*
table of supported frame types. String order is important for
partial name matching
*/
static Frame supported_frames[] =
{
Frame("+", 4, quad_plus_motors),
Frame("quad", 4, quad_plus_motors),
Frame("copter", 4, quad_plus_motors),
Frame("x", 4, quad_x_motors),
Frame("bfxrev", 4, quad_bf_x_rev_motors),
Frame("bfx", 4, quad_bf_x_motors),
Frame("djix", 4, quad_dji_x_motors),
Frame("cwx", 4, quad_cw_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors),
Frame("hexax", 6, hexax_motors),
Frame("hexa-cwx", 6, hexa_cw_x_motors),
Frame("hexa-dji", 6, hexa_dji_x_motors),
Frame("hexa", 6, hexa_motors),
Frame("octa-cwx", 8, octa_cw_x_motors),
Frame("octa-dji", 8, octa_dji_x_motors),
Frame("octa-quad-cwx",8, octa_quad_cw_x_motors),
Frame("octa-quad", 8, octa_quad_motors),
Frame("octa", 8, octa_motors),
Frame("deca", 10, deca_motors),
Frame("deca-cwx", 10, deca_cw_x_motors),
Frame("dodeca-hexa", 12, dodeca_hexa_motors),
Frame("tri", 3, tri_motors),
Frame("tilttrivec",3, tilttri_vectored_motors),
Frame("tilttri", 3, tilttri_motors),
Frame("y6", 6, y6_motors),
Frame("firefly", 6, firefly_motors),
Frame("tilt", 4, tiltquad),
};
// get air density in kg/m^3
float Frame::get_air_density(float alt_amsl) const
{
return AP_Baro::get_air_density_for_alt_amsl(alt_amsl);
}
/*
load frame specific parameters from a json file if available
*/
void Frame::load_frame_params(const char *model_json)
{
char *fname = nullptr;
struct stat st;
if (AP::FS().stat(model_json, &st) == 0) {
fname = strdup(model_json);
} else {
IGNORE_RETURN(asprintf(&fname, "@ROMFS/models/%s", model_json));
if (AP::FS().stat(model_json, &st) != 0) {
AP_HAL::panic("%s failed to load\n", model_json);
}
}
if (fname == nullptr) {
AP_HAL::panic("%s failed to load\n", model_json);
}
AP_JSON::value *obj = AP_JSON::load_json(model_json);
if (obj == nullptr) {
AP_HAL::panic("%s failed to load\n", model_json);
}
enum class VarType {
FLOAT,
VECTOR3F,
};
struct json_search {
const char *label;
void *ptr;
VarType t;
};
json_search vars[] = {
#define FRAME_VAR(s) { #s, &model.s, VarType::FLOAT }
FRAME_VAR(mass),
FRAME_VAR(diagonal_size),
FRAME_VAR(refSpd),
FRAME_VAR(refAngle),
FRAME_VAR(refVoltage),
FRAME_VAR(refCurrent),
FRAME_VAR(refAlt),
FRAME_VAR(refTempC),
FRAME_VAR(maxVoltage),
FRAME_VAR(battCapacityAh),
FRAME_VAR(refBatRes),
FRAME_VAR(propExpo),
FRAME_VAR(refRotRate),
FRAME_VAR(hoverThrOut),
FRAME_VAR(pwmMin),
FRAME_VAR(pwmMax),
FRAME_VAR(spin_min),
FRAME_VAR(spin_max),
FRAME_VAR(slew_max),
FRAME_VAR(disc_area),
FRAME_VAR(mdrag_coef),
{"moment_inertia", &model.moment_of_inertia, VarType::VECTOR3F},
FRAME_VAR(num_motors),
};
for (uint8_t i=0; i<ARRAY_SIZE(vars); i++) {
auto v = obj->get(vars[i].label);
if (v.is<AP_JSON::null>()) {
// use default value
continue;
}
if (vars[i].t == VarType::FLOAT) {
parse_float(v, vars[i].label, *((float *)vars[i].ptr));
} else if (vars[i].t == VarType::VECTOR3F) {
parse_vector3(v, vars[i].label, *(Vector3f *)vars[i].ptr);
}
}
json_search per_motor_vars[] = {
{"position", &model.motor_pos, VarType::VECTOR3F},
{"vector", &model.motor_thrust_vec, VarType::VECTOR3F},
{"yaw", &model.yaw_factor, VarType::FLOAT},
};
char label_name[20];
for (uint8_t i=0; i<ARRAY_SIZE(per_motor_vars); i++) {
for (uint8_t j=0; j<12; j++) {
snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label);
auto v = obj->get(label_name);
if (v.is<AP_JSON::null>()) {
// use default value
continue;
}
if (per_motor_vars[i].t == VarType::FLOAT) {
parse_float(v, label_name, *(((float *)per_motor_vars[i].ptr) + j));
} else if (per_motor_vars[i].t == VarType::VECTOR3F) {
parse_vector3(v, label_name, *(((Vector3f *)per_motor_vars[i].ptr) + j));
}
}
}
delete obj;
::printf("Loaded model params from %s\n", model_json);
}
void Frame::parse_float(AP_JSON::value val, const char* label, float ¶m) {
if (!val.is<double>()) {
AP_HAL::panic("Bad json type for %s: %s", label, val.to_str().c_str());
}
param = val.get<double>();
}
void Frame::parse_vector3(AP_JSON::value val, const char* label, Vector3f ¶m) {
if (!val.is<AP_JSON::value::array>() || !val.contains(2) || val.contains(3)) {
AP_HAL::panic("Bad json type for %s: %s", label, val.to_str().c_str());
}
for (uint8_t j=0; j<3; j++) {
parse_float(val.get(j), label, param[j]);
}
}
#if AP_SIM_ENABLED
/*
initialise the frame
*/
void Frame::init(const char *frame_str, Battery *_battery)
{
model = default_model;
battery = _battery;
const char *colon = strchr(frame_str, ':');
size_t slen = strlen(frame_str);
if (colon != nullptr && slen > 5 && strcmp(&frame_str[slen-5], ".json") == 0) {
load_frame_params(colon+1);
}
mass = model.mass;
const float drag_force = model.mass * GRAVITY_MSS * tanf(radians(model.refAngle));
const float cos_tilt = cosf(radians(model.refAngle));
const float airspeed_bf = model.refSpd * cos_tilt;
const float ref_thrust = model.mass * GRAVITY_MSS / cos_tilt;
float ref_air_density = get_air_density(model.refAlt);
const float momentum_drag = cos_tilt * model.mdrag_coef * airspeed_bf * sqrtf(ref_thrust * ref_air_density * model.disc_area);
if (momentum_drag > drag_force) {
model.mdrag_coef *= drag_force / momentum_drag;
areaCd = 0.0;
::printf("Suggested EK3_DRAG_BCOEF_* = 0, EK3_DRAG_MCOEF = %.3f\n", (momentum_drag / (model.mass * airspeed_bf)) * sqrtf(1.225f / ref_air_density));
} else {
areaCd = (drag_force - momentum_drag) / (0.5f * ref_air_density * sq(model.refSpd));
::printf("Suggested EK3_DRAG_BCOEF_* = %.3f, EK3_DRAG_MCOEF = %.3f\n", model.mass / areaCd, (momentum_drag / (model.mass * airspeed_bf)) * sqrtf(1.225f / ref_air_density));
}
terminal_rotation_rate = model.refRotRate;
float hover_thrust = mass * GRAVITY_MSS;
float hover_power = model.refCurrent * model.refVoltage;
float hover_velocity_out = 2 * hover_power / hover_thrust;
float effective_disc_area = hover_thrust / (0.5 * ref_air_density * sq(hover_velocity_out));
float velocity_max = hover_velocity_out / sqrtf(model.hoverThrOut);
float effective_prop_area = effective_disc_area / num_motors;
float true_prop_area = model.disc_area / num_motors;
// power_factor is ratio of power consumed per newton of thrust
float power_factor = hover_power / hover_thrust;
battery->setup(model.battCapacityAh, model.refBatRes, model.maxVoltage);
if (uint8_t(model.num_motors) != num_motors) {
::printf("Warning model expected %u motors and got %u\n", uint8_t(model.num_motors), num_motors);
}
for (uint8_t i=0; i<num_motors; i++) {
motors[i].setup_params(model.pwmMin, model.pwmMax, model.spin_min, model.spin_max, model.propExpo, model.slew_max,
model.diagonal_size, power_factor, model.maxVoltage, effective_prop_area, velocity_max,
model.motor_pos[i], model.motor_thrust_vec[i], model.yaw_factor[i], true_prop_area,
model.mdrag_coef);
}
if (is_zero(model.moment_of_inertia.x) || is_zero(model.moment_of_inertia.y) || is_zero(model.moment_of_inertia.z)) {
// if no inertia provided, assume 50% of mass on ring around center
model.moment_of_inertia.x = model.mass * 0.25 * sq(model.diagonal_size*0.5);
model.moment_of_inertia.y = model.moment_of_inertia.x;
model.moment_of_inertia.z = model.mass * 0.5 * sq(model.diagonal_size*0.5);
}
// setup reasonable defaults for battery
AP_Param::set_default_by_name("SIM_BATT_VOLTAGE", model.maxVoltage);
AP_Param::set_default_by_name("SIM_BATT_CAP_AH", model.battCapacityAh);
if (model.battCapacityAh > 0) {
AP_Param::set_default_by_name("BATT_CAPACITY", model.battCapacityAh*1000);
}
}
/*
find a frame by name
*/
Frame *Frame::find_frame(const char *name)
{
for (uint8_t i=0; i < ARRAY_SIZE(supported_frames); i++) {
// do partial name matching to allow for frame variants
if (strncasecmp(name, supported_frames[i].name, strlen(supported_frames[i].name)) == 0) {
return &supported_frames[i];
}
}
return nullptr;
}
// calculate rotational and linear accelerations
void Frame::calculate_forces(const Aircraft &aircraft,
const struct sitl_input &input,
Vector3f &rot_accel,
Vector3f &body_accel,
float* rpm,
bool use_drag)
{
Vector3f thrust; // newtons
Vector3f torque;
const float air_density = get_air_density(aircraft.get_location().alt*0.01);
const Vector3f gyro = aircraft.get_gyro();
Vector3f vel_air_bf = aircraft.get_dcm().transposed() * aircraft.get_velocity_air_ef();
const auto *_sitl = AP::sitl();
for (uint8_t i=0; i<num_motors; i++) {
Vector3f mtorque, mthrust;
motors[i].calculate_forces(input, motor_offset, mtorque, mthrust, vel_air_bf, gyro, air_density, battery->get_voltage(), use_drag);
torque += mtorque;
thrust += mthrust;
// simulate motor rpm
if (!is_zero(_sitl->vibe_motor)) {
rpm[motor_offset+i] = motors[i].get_command() * AP::sitl()->vibe_motor * 60.0f;
}
}
// calculate total rotational acceleration
rot_accel.x = torque.x / model.moment_of_inertia.x;
rot_accel.y = torque.y / model.moment_of_inertia.y;
rot_accel.z = torque.z / model.moment_of_inertia.z;
if (terminal_rotation_rate > 0) {
// rotational air resistance
rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate;
rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate;
rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
}
if (use_drag) {
// use the model params to calculate drag
Vector3f drag_bf;
drag_bf.x = areaCd * 0.5f * air_density * sq(vel_air_bf.x);
if (is_negative(vel_air_bf.x)) {
drag_bf.x = -drag_bf.x;
}
drag_bf.y = areaCd * 0.5f * air_density * sq(vel_air_bf.y);
if (is_negative(vel_air_bf.y)) {
drag_bf.y = -drag_bf.y;
}
drag_bf.z = areaCd * 0.5f * air_density * sq(vel_air_bf.z);
if (is_negative(vel_air_bf.z)) {
drag_bf.z = -drag_bf.z;
}
thrust -= drag_bf;
}
body_accel = thrust/aircraft.gross_mass();
}
// calculate current and voltage
void Frame::current_and_voltage(float &voltage, float ¤t)
{
float param_voltage = AP::sitl()->batt_voltage;
if (!is_equal(last_param_voltage,param_voltage)) {
battery->init_voltage(param_voltage);
last_param_voltage = param_voltage;
}
voltage = battery->get_voltage();
current = 0;
for (uint8_t i=0; i<num_motors; i++) {
current += motors[i].get_current();
}
}
#endif // AP_SIM_ENABLED