APM:Libraries
Classes | Public Member Functions | Static Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Private Attributes | Friends | List of all members
SITL::Aircraft Class Referenceabstract

#include <SIM_Aircraft.h>

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Classes

struct  sitl_input
 

Public Member Functions

 Aircraft (const char *home_str, const char *frame_str)
 
void set_speedup (float speedup)
 
void set_instance (uint8_t _instance)
 
void set_autotest_dir (const char *_autotest_dir)
 
virtual void set_interface_ports (const char *address, const int port_in, const int port_out)
 
virtual void update (const struct sitl_input &input)=0
 
void fill_fdm (struct sitl_fdm &fdm)
 
void smooth_sensors (void)
 
float get_rate_hz (void) const
 
const Vector3f & get_gyro (void) const
 
const Vector3f & get_velocity_ef (void) const
 
const Vector3f & get_velocity_air_ef (void) const
 
const Matrix3f & get_dcm (void) const
 
const Vector3f & get_mag_field_bf (void) const
 
virtual float gross_mass () const
 
const Location & get_location () const
 
const Vector3f & get_position () const
 
void get_attitude (Quaternion &attitude) const
 

Static Public Member Functions

static double rand_normal (double mean, double stddev)
 
static bool parse_home (const char *home_str, Location &loc, float &yaw_degrees)
 

Protected Types

enum  { GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }
 

Protected Member Functions

float ground_height_difference () const
 
virtual bool on_ground () const
 
float hagl () const
 
void update_position (void)
 
void update_mag_field_bf (void)
 
void time_advance ()
 
void setup_frame_time (float rate, float speedup)
 
void adjust_frame_time (float rate)
 
void sync_frame_time (void)
 
void add_noise (float throttle)
 
uint64_t get_wall_time_us (void) const
 
void update_dynamics (const Vector3f &rot_accel)
 
void update_wind (const struct sitl_input &input)
 
float filtered_idx (float v, uint8_t idx)
 
float filtered_servo_angle (const struct sitl_input &input, uint8_t idx)
 
float filtered_servo_range (const struct sitl_input &input, uint8_t idx)
 
void extrapolate_sensors (float delta_time)
 

Protected Attributes

SITL * sitl
 
Location home
 
Location location
 
float ground_level
 
float home_yaw
 
float frame_height
 
Matrix3f dcm
 
Vector3f gyro
 
Vector3f gyro_prev
 
Vector3f ang_accel
 
Vector3f velocity_ef
 
Vector3f wind_ef
 
Vector3f velocity_air_ef
 
Vector3f velocity_air_bf
 
Vector3f position
 
float mass
 
Vector3f accel_body
 
float airspeed
 
float airspeed_pitot
 
float battery_voltage = -1.0f
 
float battery_current = 0.0f
 
float rpm1 = 0
 
float rpm2 = 0
 
uint8_t rcin_chan_count = 0
 
float rcin [8]
 
float range = -1.0f
 
float turbulence_azimuth = 0.0f
 
float turbulence_horizontal_speed = 0.0f
 
float turbulence_vertical_speed = 0.0f
 
Vector3f mag_bf
 
uint64_t time_now_us
 
const float gyro_noise
 
const float accel_noise
 
float rate_hz
 
float achieved_rate_hz
 
float target_speedup
 
uint64_t frame_time_us
 
float scaled_frame_time_us
 
uint64_t last_wall_time_us
 
uint8_t instance
 
const char * autotest_dir
 
const char * frame
 
bool use_time_sync = true
 
float last_speedup = -1.0f
 
AP_Int8 * ahrs_orientation
 
enum SITL::Aircraft:: { ... }  ground_behavior
 
bool use_smoothing
 
AP_Terrain * terrain
 
const float FEET_TO_METERS = 0.3048f
 
const float KNOTS_TO_METERS_PER_SECOND = 0.51444f
 

Private Attributes

uint64_t last_time_us = 0
 
uint32_t frame_counter = 0
 
uint32_t last_ground_contact_ms
 
const uint32_t min_sleep_time
 
struct {
   bool   enabled
 
   Vector3f   accel_body
 
   Vector3f   gyro
 
   Matrix3f   rotation_b2e
 
   Vector3f   position
 
   Vector3f   velocity_ef
 
   uint64_t   last_update_us
 
   Location   location
 
} smoothing
 
LowPassFilterFloat servo_filter [4]
 

Friends

class Gripper_Servo
 

Detailed Description

Definition at line 32 of file SIM_Aircraft.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
protected
Enumerator
GROUND_BEHAVIOR_NONE 
GROUND_BEHAVIOR_NO_MOVEMENT 
GROUND_BEHAVIOR_FWD_ONLY 
GROUND_BEHAVIOR_TAILSITTER 

Definition at line 179 of file SIM_Aircraft.h.

Constructor & Destructor Documentation

◆ Aircraft()

Aircraft::Aircraft ( const char *  home_str,
const char *  frame_str 
)

Definition at line 41 of file SIM_Aircraft.cpp.

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Member Function Documentation

◆ add_noise()

void Aircraft::add_noise ( float  throttle)
protected

Definition at line 306 of file SIM_Aircraft.cpp.

Referenced by SITL::Plane::calculate_forces().

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◆ adjust_frame_time()

void Aircraft::adjust_frame_time ( float  rate)
protected

Definition at line 261 of file SIM_Aircraft.cpp.

Referenced by SITL::Gazebo::recv_fdm(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), and SITL::JSBSim::update().

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◆ extrapolate_sensors()

void Aircraft::extrapolate_sensors ( float  delta_time)
protected

Definition at line 721 of file SIM_Aircraft.cpp.

Referenced by SITL::XPlane::receive_data(), and SITL::FlightAxis::update().

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◆ fill_fdm()

void Aircraft::fill_fdm ( struct sitl_fdm &  fdm)

Definition at line 351 of file SIM_Aircraft.cpp.

Referenced by HALSITL::SITL_State::_fdm_input_local(), and set_interface_ports().

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◆ filtered_idx()

float Aircraft::filtered_idx ( float  v,
uint8_t  idx 
)
protected

Definition at line 689 of file SIM_Aircraft.cpp.

Referenced by filtered_servo_angle(), and filtered_servo_range().

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◆ filtered_servo_angle()

float Aircraft::filtered_servo_angle ( const struct sitl_input &  input,
uint8_t  idx 
)
protected

Definition at line 704 of file SIM_Aircraft.cpp.

Referenced by SITL::Plane::calculate_forces(), and SITL::JSBSim::send_servos().

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◆ filtered_servo_range()

float Aircraft::filtered_servo_range ( const struct sitl_input &  input,
uint8_t  idx 
)
protected

Definition at line 714 of file SIM_Aircraft.cpp.

Referenced by SITL::Plane::calculate_forces(), and SITL::JSBSim::send_servos().

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◆ get_attitude()

void SITL::Aircraft::get_attitude ( Quaternion &  attitude) const
inline

Definition at line 120 of file SIM_Aircraft.h.

Referenced by HALSITL::SITL_State::_fdm_input_local().

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◆ get_dcm()

const Matrix3f& SITL::Aircraft::get_dcm ( void  ) const
inline

Definition at line 106 of file SIM_Aircraft.h.

Referenced by SITL::Frame::calculate_forces().

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◆ get_gyro()

const Vector3f& SITL::Aircraft::get_gyro ( void  ) const
inline

Definition at line 94 of file SIM_Aircraft.h.

Referenced by SITL::Frame::calculate_forces().

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◆ get_location()

const Location& SITL::Aircraft::get_location ( ) const
inline

Definition at line 116 of file SIM_Aircraft.h.

Referenced by HALSITL::SITL_State::_fdm_input_local().

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◆ get_mag_field_bf()

const Vector3f& SITL::Aircraft::get_mag_field_bf ( void  ) const
inline

Definition at line 110 of file SIM_Aircraft.h.

◆ get_position()

const Vector3f& SITL::Aircraft::get_position ( ) const
inline

Definition at line 118 of file SIM_Aircraft.h.

Referenced by HALSITL::SITL_State::_fdm_input_local().

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◆ get_rate_hz()

float SITL::Aircraft::get_rate_hz ( void  ) const
inline

Definition at line 92 of file SIM_Aircraft.h.

Referenced by HALSITL::SITL_State::_fdm_input_local().

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◆ get_velocity_air_ef()

const Vector3f& SITL::Aircraft::get_velocity_air_ef ( void  ) const
inline

Definition at line 102 of file SIM_Aircraft.h.

Referenced by SITL::Frame::calculate_forces().

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◆ get_velocity_ef()

const Vector3f& SITL::Aircraft::get_velocity_ef ( void  ) const
inline

Definition at line 98 of file SIM_Aircraft.h.

◆ get_wall_time_us()

uint64_t Aircraft::get_wall_time_us ( void  ) const
protected

Definition at line 431 of file SIM_Aircraft.cpp.

Referenced by Aircraft(), SITL::Gazebo::recv_fdm(), setup_frame_time(), and sync_frame_time().

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◆ gross_mass()

virtual float SITL::Aircraft::gross_mass ( ) const
inlinevirtual

Reimplemented in SITL::MultiCopter.

Definition at line 114 of file SIM_Aircraft.h.

Referenced by SITL::Frame::calculate_forces(), and SITL::MultiCopter::gross_mass().

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◆ ground_height_difference()

float Aircraft::ground_height_difference ( ) const
protected

Definition at line 151 of file SIM_Aircraft.cpp.

Referenced by hagl(), and update_dynamics().

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◆ hagl()

float Aircraft::hagl ( ) const
protected

Definition at line 166 of file SIM_Aircraft.cpp.

Referenced by on_ground(), and SITL::Gripper_Servo::payload_mass().

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◆ on_ground()

bool Aircraft::on_ground ( ) const
protectedvirtual

Reimplemented in SITL::Submarine.

Definition at line 173 of file SIM_Aircraft.cpp.

Referenced by SITL::Plane::calculate_forces(), SITL::Gripper_Servo::update(), update_dynamics(), and update_wind().

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◆ parse_home()

bool Aircraft::parse_home ( const char *  home_str,
Location &  loc,
float &  yaw_degrees 
)
static

Definition at line 95 of file SIM_Aircraft.cpp.

Referenced by SITL::ADSB::ADSB(), Aircraft(), and set_interface_ports().

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◆ rand_normal()

double Aircraft::rand_normal ( double  mean,
double  stddev 
)
static

Definition at line 321 of file SIM_Aircraft.cpp.

Referenced by add_noise(), SITL::Frame::calculate_forces(), set_interface_ports(), SITL::ADSB_Vehicle::update(), and update_wind().

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◆ set_autotest_dir()

void SITL::Aircraft::set_autotest_dir ( const char *  _autotest_dir)
inline

Definition at line 67 of file SIM_Aircraft.h.

◆ set_instance()

void SITL::Aircraft::set_instance ( uint8_t  _instance)
inline

Definition at line 60 of file SIM_Aircraft.h.

◆ set_interface_ports()

virtual void SITL::Aircraft::set_interface_ports ( const char *  address,
const int  port_in,
const int  port_out 
)
inlinevirtual

Reimplemented in SITL::Gazebo.

Definition at line 72 of file SIM_Aircraft.h.

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◆ set_speedup()

void Aircraft::set_speedup ( float  speedup)

Definition at line 454 of file SIM_Aircraft.cpp.

Referenced by Aircraft(), and fill_fdm().

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◆ setup_frame_time()

void Aircraft::setup_frame_time ( float  rate,
float  speedup 
)
protected

Definition at line 249 of file SIM_Aircraft.cpp.

Referenced by set_speedup().

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◆ smooth_sensors()

void Aircraft::smooth_sensors ( void  )

Definition at line 608 of file SIM_Aircraft.cpp.

Referenced by fill_fdm(), and set_interface_ports().

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◆ sync_frame_time()

void Aircraft::sync_frame_time ( void  )
protected

Definition at line 276 of file SIM_Aircraft.cpp.

Referenced by time_advance(), SITL::last_letter::update(), and SITL::JSBSim::update().

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◆ time_advance()

void Aircraft::time_advance ( )
protected

Definition at line 235 of file SIM_Aircraft.cpp.

Referenced by SITL::XPlane::receive_data(), SITL::Tracker::update(), SITL::SimRover::update(), SITL::Helicopter::update(), SITL::Balloon::update(), SITL::Gazebo::update(), SITL::SingleCopter::update(), SITL::FlightAxis::update(), SITL::Plane::update(), SITL::last_letter::update(), SITL::CRRCSim::update(), SITL::QuadPlane::update(), SITL::Submarine::update(), SITL::MultiCopter::update(), and SITL::Calibration::update().

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◆ update()

virtual void SITL::Aircraft::update ( const struct sitl_input &  input)
pure virtual

Implemented in SITL::Calibration, SITL::MultiCopter, SITL::Submarine, SITL::CRRCSim, SITL::JSBSim, SITL::last_letter, SITL::Plane, SITL::QuadPlane, SITL::XPlane, SITL::Gazebo, SITL::SingleCopter, SITL::Balloon, SITL::Helicopter, SITL::SimRover, and SITL::Tracker.

Referenced by HALSITL::SITL_State::_fdm_input_local(), and set_interface_ports().

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◆ update_dynamics()

void Aircraft::update_dynamics ( const Vector3f &  rot_accel)
protected

Definition at line 462 of file SIM_Aircraft.cpp.

Referenced by SITL::Balloon::update(), SITL::Helicopter::update(), SITL::SingleCopter::update(), SITL::Plane::update(), SITL::QuadPlane::update(), SITL::Submarine::update(), SITL::MultiCopter::update(), and SITL::Calibration::update().

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◆ update_mag_field_bf()

void Aircraft::update_mag_field_bf ( void  )
protected

Definition at line 202 of file SIM_Aircraft.cpp.

Referenced by SITL::XPlane::receive_data(), SITL::JSBSim::recv_fdm(), SITL::Tracker::update(), SITL::Helicopter::update(), SITL::SimRover::update(), SITL::Balloon::update(), SITL::Gazebo::update(), SITL::SingleCopter::update(), SITL::QuadPlane::update(), SITL::last_letter::update(), SITL::FlightAxis::update(), SITL::CRRCSim::update(), SITL::Plane::update(), SITL::Submarine::update(), SITL::MultiCopter::update(), and SITL::Calibration::update().

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◆ update_position()

void Aircraft::update_position ( void  )
protected

Definition at line 181 of file SIM_Aircraft.cpp.

Referenced by SITL::XPlane::receive_data(), SITL::Tracker::update(), SITL::SimRover::update(), SITL::Helicopter::update(), SITL::Balloon::update(), SITL::Gazebo::update(), SITL::SingleCopter::update(), SITL::FlightAxis::update(), SITL::Plane::update(), SITL::last_letter::update(), SITL::CRRCSim::update(), SITL::QuadPlane::update(), SITL::Submarine::update(), SITL::MultiCopter::update(), and SITL::Calibration::update().

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◆ update_wind()

void Aircraft::update_wind ( const struct sitl_input &  input)
protected

Definition at line 579 of file SIM_Aircraft.cpp.

Referenced by SITL::Balloon::update(), SITL::Helicopter::update(), SITL::SingleCopter::update(), SITL::QuadPlane::update(), SITL::Plane::update(), SITL::Submarine::update(), and SITL::MultiCopter::update().

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Friends And Related Function Documentation

◆ Gripper_Servo

friend class Gripper_Servo
friend

Definition at line 33 of file SIM_Aircraft.h.

Member Data Documentation

◆ accel_body

Vector3f SITL::Aircraft::accel_body
protected

Definition at line 142 of file SIM_Aircraft.h.

Referenced by SITL::Calibration::_calibration_poses(), add_noise(), SITL::Plane::calculate_forces(), extrapolate_sensors(), fill_fdm(), SITL::XPlane::receive_data(), SITL::Gazebo::recv_fdm(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), smooth_sensors(), SITL::Tracker::update(), SITL::SimRover::update(), SITL::Helicopter::update(), SITL::Balloon::update(), SITL::SingleCopter::update(), SITL::FlightAxis::update(), SITL::Plane::update(), SITL::QuadPlane::update(), SITL::Submarine::update(), SITL::MultiCopter::update(), SITL::Calibration::update(), update_dynamics(), and update_position().

◆ accel_noise

const float SITL::Aircraft::accel_noise
protected

Definition at line 163 of file SIM_Aircraft.h.

Referenced by add_noise().

◆ achieved_rate_hz

float SITL::Aircraft::achieved_rate_hz
protected

Definition at line 165 of file SIM_Aircraft.h.

Referenced by setup_frame_time(), and sync_frame_time().

◆ ahrs_orientation

AP_Int8* SITL::Aircraft::ahrs_orientation
protected

Definition at line 177 of file SIM_Aircraft.h.

Referenced by Aircraft(), and fill_fdm().

◆ airspeed

float SITL::Aircraft::airspeed
protected

Definition at line 143 of file SIM_Aircraft.h.

Referenced by SITL::Plane::getForce(), SITL::Plane::getTorque(), SITL::XPlane::receive_data(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), SITL::FlightAxis::update(), and update_dynamics().

◆ airspeed_pitot

float SITL::Aircraft::airspeed_pitot
protected

Definition at line 144 of file SIM_Aircraft.h.

Referenced by fill_fdm(), SITL::XPlane::receive_data(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), SITL::FlightAxis::update(), and update_dynamics().

◆ ang_accel

Vector3f SITL::Aircraft::ang_accel
protected

Definition at line 135 of file SIM_Aircraft.h.

Referenced by fill_fdm(), and update_dynamics().

◆ autotest_dir

const char* SITL::Aircraft::autotest_dir
protected

Definition at line 171 of file SIM_Aircraft.h.

Referenced by SITL::JSBSim::create_templates(), set_autotest_dir(), and SITL::JSBSim::start_JSBSim().

◆ battery_current

float SITL::Aircraft::battery_current = 0.0f
protected

Definition at line 146 of file SIM_Aircraft.h.

Referenced by fill_fdm(), SITL::FlightAxis::update(), and update_mag_field_bf().

◆ battery_voltage

float SITL::Aircraft::battery_voltage = -1.0f
protected

Definition at line 145 of file SIM_Aircraft.h.

Referenced by fill_fdm(), and SITL::FlightAxis::update().

◆ dcm

Matrix3f SITL::Aircraft::dcm
protected

Definition at line 132 of file SIM_Aircraft.h.

Referenced by SITL::Calibration::_attitude_set(), SITL::Calibration::_calibration_poses(), Aircraft(), SITL::Submarine::calculate_forces(), SITL::Plane::calculate_forces(), SITL::JSBSim::create_templates(), extrapolate_sensors(), fill_fdm(), get_attitude(), get_dcm(), SITL::XPlane::receive_data(), SITL::Gazebo::recv_fdm(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), smooth_sensors(), SITL::Tracker::update(), SITL::Helicopter::update(), SITL::SimRover::update(), SITL::Balloon::update(), SITL::SingleCopter::update(), SITL::FlightAxis::update(), update_dynamics(), update_mag_field_bf(), and update_position().

◆ enabled

bool SITL::Aircraft::enabled

Definition at line 245 of file SIM_Aircraft.h.

◆ FEET_TO_METERS

const float SITL::Aircraft::FEET_TO_METERS = 0.3048f
protected

Definition at line 191 of file SIM_Aircraft.h.

Referenced by SITL::XPlane::receive_data(), SITL::JSBSim::recv_fdm(), and SITL::JSBSim::send_servos().

◆ frame

const char* SITL::Aircraft::frame
protected

Definition at line 172 of file SIM_Aircraft.h.

◆ frame_counter

uint32_t SITL::Aircraft::frame_counter = 0
private

Definition at line 240 of file SIM_Aircraft.h.

Referenced by Aircraft(), and sync_frame_time().

◆ frame_height

float SITL::Aircraft::frame_height
protected

Definition at line 131 of file SIM_Aircraft.h.

Referenced by hagl(), SITL::Helicopter::Helicopter(), SITL::MultiCopter::MultiCopter(), SITL::Plane::Plane(), SITL::SingleCopter::SingleCopter(), SITL::Submarine::Submarine(), and update_dynamics().

◆ frame_time_us

uint64_t SITL::Aircraft::frame_time_us
protected

Definition at line 167 of file SIM_Aircraft.h.

Referenced by SITL::Calibration::_angular_velocity_control(), SITL::Calibration::_attitude_set(), SITL::Calibration::_stop_control(), adjust_frame_time(), filtered_idx(), SITL::XPlane::receive_data(), setup_frame_time(), time_advance(), SITL::Tracker::update(), SITL::SimRover::update(), and update_dynamics().

◆ ground_behavior

enum { ... } SITL::Aircraft::ground_behavior

Referenced by SITL::Helicopter::Helicopter(), SITL::MultiCopter::MultiCopter(), SITL::Plane::Plane(), SITL::QuadPlane::QuadPlane(), SITL::Submarine::Submarine(), and update_dynamics().

◆ ground_level

float SITL::Aircraft::ground_level
protected

Definition at line 129 of file SIM_Aircraft.h.

Referenced by Aircraft(), hagl(), SITL::XPlane::receive_data(), update_dynamics(), and update_mag_field_bf().

◆ gyro

Vector3f SITL::Aircraft::gyro
protected

Definition at line 133 of file SIM_Aircraft.h.

Referenced by SITL::Calibration::_angular_velocity_control(), SITL::Calibration::_attitude_set(), SITL::Calibration::_stop_control(), add_noise(), SITL::Submarine::calculate_forces(), extrapolate_sensors(), fill_fdm(), get_gyro(), SITL::Plane::getForce(), SITL::Plane::getTorque(), SITL::XPlane::receive_data(), SITL::Gazebo::recv_fdm(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), smooth_sensors(), SITL::Tracker::update(), SITL::Helicopter::update(), SITL::SimRover::update(), SITL::Balloon::update(), SITL::SingleCopter::update(), SITL::FlightAxis::update(), and update_dynamics().

◆ gyro_noise

const float SITL::Aircraft::gyro_noise
protected

Definition at line 162 of file SIM_Aircraft.h.

Referenced by add_noise().

◆ gyro_prev

Vector3f SITL::Aircraft::gyro_prev
protected

Definition at line 134 of file SIM_Aircraft.h.

Referenced by update_dynamics().

◆ home

Location SITL::Aircraft::home
protected

Definition at line 126 of file SIM_Aircraft.h.

Referenced by Aircraft(), SITL::JSBSim::create_templates(), fill_fdm(), ground_height_difference(), hagl(), SITL::XPlane::receive_data(), SITL::JSBSim::recv_fdm(), smooth_sensors(), SITL::FlightAxis::update(), update_dynamics(), update_mag_field_bf(), and update_position().

◆ home_yaw

float SITL::Aircraft::home_yaw
protected

Definition at line 130 of file SIM_Aircraft.h.

Referenced by Aircraft().

◆ instance

uint8_t SITL::Aircraft::instance
protected

Definition at line 170 of file SIM_Aircraft.h.

Referenced by SITL::JSBSim::create_templates(), and set_instance().

◆ KNOTS_TO_METERS_PER_SECOND

const float SITL::Aircraft::KNOTS_TO_METERS_PER_SECOND = 0.51444f
protected

Definition at line 192 of file SIM_Aircraft.h.

Referenced by SITL::XPlane::receive_data().

◆ last_ground_contact_ms

uint32_t SITL::Aircraft::last_ground_contact_ms
private

Definition at line 241 of file SIM_Aircraft.h.

Referenced by update_dynamics().

◆ last_speedup

float SITL::Aircraft::last_speedup = -1.0f
protected

Definition at line 174 of file SIM_Aircraft.h.

Referenced by fill_fdm().

◆ last_time_us

uint64_t SITL::Aircraft::last_time_us = 0
private

Definition at line 239 of file SIM_Aircraft.h.

Referenced by time_advance().

◆ last_update_us

uint64_t SITL::Aircraft::last_update_us

Definition at line 251 of file SIM_Aircraft.h.

◆ last_wall_time_us

uint64_t SITL::Aircraft::last_wall_time_us
protected

Definition at line 169 of file SIM_Aircraft.h.

Referenced by Aircraft(), SITL::Gazebo::recv_fdm(), setup_frame_time(), and sync_frame_time().

◆ location

Location SITL::Aircraft::location
protected

Definition at line 127 of file SIM_Aircraft.h.

Referenced by Aircraft(), fill_fdm(), get_location(), ground_height_difference(), SITL::XPlane::receive_data(), SITL::last_letter::recv_fdm(), SITL::JSBSim::recv_fdm(), smooth_sensors(), update_mag_field_bf(), and update_position().

◆ mag_bf

Vector3f SITL::Aircraft::mag_bf
protected

Definition at line 158 of file SIM_Aircraft.h.

Referenced by fill_fdm(), get_mag_field_bf(), and update_mag_field_bf().

◆ mass

float SITL::Aircraft::mass
protected

Definition at line 141 of file SIM_Aircraft.h.

Referenced by SITL::Balloon::Balloon(), SITL::Plane::calculate_forces(), SITL::Calibration::Calibration(), gross_mass(), SITL::Helicopter::Helicopter(), SITL::MultiCopter::MultiCopter(), SITL::Plane::Plane(), SITL::QuadPlane::QuadPlane(), SITL::SingleCopter::SingleCopter(), SITL::Helicopter::update(), and SITL::SingleCopter::update().

◆ min_sleep_time

const uint32_t SITL::Aircraft::min_sleep_time
private

Definition at line 242 of file SIM_Aircraft.h.

Referenced by sync_frame_time().

◆ position

Vector3f SITL::Aircraft::position
protected

Definition at line 140 of file SIM_Aircraft.h.

Referenced by SITL::Submarine::calculate_buoyancy_acceleration(), SITL::Submarine::calculate_forces(), extrapolate_sensors(), get_position(), hagl(), SITL::XPlane::receive_data(), SITL::Gazebo::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::FlightAxis::report_FPS(), smooth_sensors(), SITL::Balloon::update(), SITL::SimRover::update(), SITL::FlightAxis::update(), update_dynamics(), update_mag_field_bf(), and update_position().

◆ range

float SITL::Aircraft::range = -1.0f
protected

Definition at line 151 of file SIM_Aircraft.h.

Referenced by fill_fdm().

◆ rate_hz

float SITL::Aircraft::rate_hz
protected

Definition at line 164 of file SIM_Aircraft.h.

Referenced by adjust_frame_time(), SITL::FlightAxis::FlightAxis(), get_rate_hz(), set_speedup(), setup_frame_time(), and sync_frame_time().

◆ rcin

float SITL::Aircraft::rcin[8]
protected

Definition at line 150 of file SIM_Aircraft.h.

Referenced by fill_fdm(), SITL::XPlane::receive_data(), and SITL::FlightAxis::update().

◆ rcin_chan_count

uint8_t SITL::Aircraft::rcin_chan_count = 0
protected

Definition at line 149 of file SIM_Aircraft.h.

Referenced by fill_fdm(), SITL::XPlane::receive_data(), and SITL::FlightAxis::update().

◆ rotation_b2e

Matrix3f SITL::Aircraft::rotation_b2e

Definition at line 248 of file SIM_Aircraft.h.

◆ rpm1

float SITL::Aircraft::rpm1 = 0
protected

Definition at line 147 of file SIM_Aircraft.h.

Referenced by SITL::Plane::calculate_forces(), fill_fdm(), SITL::XPlane::receive_data(), SITL::JSBSim::recv_fdm(), SITL::Helicopter::update(), and SITL::FlightAxis::update().

◆ rpm2

float SITL::Aircraft::rpm2 = 0
protected

Definition at line 148 of file SIM_Aircraft.h.

Referenced by fill_fdm(), SITL::XPlane::receive_data(), SITL::JSBSim::recv_fdm(), and SITL::FlightAxis::update().

◆ scaled_frame_time_us

float SITL::Aircraft::scaled_frame_time_us
protected

Definition at line 168 of file SIM_Aircraft.h.

Referenced by adjust_frame_time(), setup_frame_time(), and sync_frame_time().

◆ servo_filter

LowPassFilterFloat SITL::Aircraft::servo_filter[4]
private

Definition at line 255 of file SIM_Aircraft.h.

Referenced by filtered_idx().

◆ sitl

SITL* SITL::Aircraft::sitl
protected

Definition at line 125 of file SIM_Aircraft.h.

Referenced by Aircraft(), fill_fdm(), filtered_idx(), ground_height_difference(), and update_mag_field_bf().

◆ smoothing

struct { ... } SITL::Aircraft::smoothing

Referenced by fill_fdm(), and smooth_sensors().

◆ target_speedup

float SITL::Aircraft::target_speedup
protected

Definition at line 166 of file SIM_Aircraft.h.

Referenced by adjust_frame_time(), SITL::FlightAxis::FlightAxis(), setup_frame_time(), sync_frame_time(), and SITL::FlightAxis::update().

◆ terrain

AP_Terrain* SITL::Aircraft::terrain
protected

Definition at line 188 of file SIM_Aircraft.h.

Referenced by Aircraft(), and ground_height_difference().

◆ time_now_us

uint64_t SITL::Aircraft::time_now_us
protected

Definition at line 160 of file SIM_Aircraft.h.

Referenced by fill_fdm(), SITL::XPlane::receive_data(), SITL::Gazebo::recv_fdm(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), smooth_sensors(), time_advance(), SITL::Tracker::update(), SITL::FlightAxis::update(), and SITL::JSBSim::update().

◆ turbulence_azimuth

float SITL::Aircraft::turbulence_azimuth = 0.0f
protected

Definition at line 154 of file SIM_Aircraft.h.

Referenced by update_wind().

◆ turbulence_horizontal_speed

float SITL::Aircraft::turbulence_horizontal_speed = 0.0f
protected

Definition at line 155 of file SIM_Aircraft.h.

Referenced by update_wind().

◆ turbulence_vertical_speed

float SITL::Aircraft::turbulence_vertical_speed = 0.0f
protected

Definition at line 156 of file SIM_Aircraft.h.

Referenced by update_wind().

◆ use_smoothing

bool SITL::Aircraft::use_smoothing
protected

Definition at line 186 of file SIM_Aircraft.h.

Referenced by SITL::Calibration::_calibration_poses(), fill_fdm(), and update_dynamics().

◆ use_time_sync

bool SITL::Aircraft::use_time_sync = true
protected

Definition at line 173 of file SIM_Aircraft.h.

Referenced by SITL::FlightAxis::FlightAxis(), time_advance(), and SITL::XPlane::XPlane().

◆ velocity_air_bf

Vector3f SITL::Aircraft::velocity_air_bf
protected

Definition at line 139 of file SIM_Aircraft.h.

Referenced by SITL::Plane::calculate_forces(), extrapolate_sensors(), and update_dynamics().

◆ velocity_air_ef

Vector3f SITL::Aircraft::velocity_air_ef
protected

Definition at line 138 of file SIM_Aircraft.h.

Referenced by SITL::Submarine::calculate_forces(), extrapolate_sensors(), get_velocity_air_ef(), SITL::Helicopter::update(), SITL::Balloon::update(), SITL::SingleCopter::update(), and update_dynamics().

◆ velocity_ef

Vector3f SITL::Aircraft::velocity_ef
protected

Definition at line 136 of file SIM_Aircraft.h.

Referenced by SITL::Plane::calculate_forces(), extrapolate_sensors(), fill_fdm(), get_velocity_ef(), SITL::XPlane::receive_data(), SITL::Gazebo::recv_fdm(), SITL::last_letter::recv_fdm(), SITL::CRRCSim::recv_fdm(), SITL::JSBSim::recv_fdm(), smooth_sensors(), SITL::Tracker::update(), SITL::SimRover::update(), SITL::FlightAxis::update(), update_dynamics(), and update_position().

◆ wind_ef

Vector3f SITL::Aircraft::wind_ef
protected

Definition at line 137 of file SIM_Aircraft.h.

Referenced by extrapolate_sensors(), update_dynamics(), and update_wind().

The documentation for this class was generated from the following files:
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