APM:Libraries
Classes | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
SITL::CRRCSim Class Reference

#include <SIM_CRRCSim.h>

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Classes

struct  fdm_packet
 
struct  servo_packet
 

Public Member Functions

 CRRCSim (const char *home_str, const char *frame_str)
 
void update (const struct sitl_input &input)
 
- Public Member Functions inherited from SITL::Aircraft
 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)
 
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 Aircraft * create (const char *home_str, const char *frame_str)
 
- Static Public Member Functions inherited from SITL::Aircraft
static double rand_normal (double mean, double stddev)
 
static bool parse_home (const char *home_str, Location &loc, float &yaw_degrees)
 

Private Member Functions

void send_servos_heli (const struct sitl_input &input)
 
void send_servos_fixed_wing (const struct sitl_input &input)
 
void recv_fdm (const struct sitl_input &input)
 
void send_servos (const struct sitl_input &input)
 

Private Attributes

bool heli_servos
 
double last_timestamp
 
SocketAPM sock
 

Additional Inherited Members

- Protected Types inherited from SITL::Aircraft
enum  { GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }
 
- Protected Member Functions inherited from SITL::Aircraft
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 inherited from SITL::Aircraft
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
 

Detailed Description

Definition at line 30 of file SIM_CRRCSim.h.

Constructor & Destructor Documentation

◆ CRRCSim()

SITL::CRRCSim::CRRCSim ( const char *  home_str,
const char *  frame_str 
)

Definition at line 29 of file SIM_CRRCSim.cpp.

Referenced by create().

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Member Function Documentation

◆ create()

static Aircraft* SITL::CRRCSim::create ( const char *  home_str,
const char *  frame_str 
)
inlinestatic

Definition at line 38 of file SIM_CRRCSim.h.

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◆ recv_fdm()

void SITL::CRRCSim::recv_fdm ( const struct sitl_input &  input)
private

Definition at line 106 of file SIM_CRRCSim.cpp.

Referenced by update().

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◆ send_servos()

void SITL::CRRCSim::send_servos ( const struct sitl_input &  input)
private

Definition at line 93 of file SIM_CRRCSim.cpp.

Referenced by recv_fdm(), and update().

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◆ send_servos_fixed_wing()

void SITL::CRRCSim::send_servos_fixed_wing ( const struct sitl_input &  input)
private

Definition at line 73 of file SIM_CRRCSim.cpp.

Referenced by send_servos().

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◆ send_servos_heli()

void SITL::CRRCSim::send_servos_heli ( const struct sitl_input &  input)
private

Definition at line 47 of file SIM_CRRCSim.cpp.

Referenced by send_servos().

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◆ update()

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

Implements SITL::Aircraft.

Definition at line 149 of file SIM_CRRCSim.cpp.

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Member Data Documentation

◆ heli_servos

bool SITL::CRRCSim::heli_servos
private

Definition at line 74 of file SIM_CRRCSim.h.

Referenced by CRRCSim(), and send_servos().

◆ last_timestamp

double SITL::CRRCSim::last_timestamp
private

Definition at line 75 of file SIM_CRRCSim.h.

Referenced by recv_fdm().

◆ sock

SocketAPM SITL::CRRCSim::sock
private

Definition at line 76 of file SIM_CRRCSim.h.

Referenced by CRRCSim(), recv_fdm(), send_servos_fixed_wing(), and send_servos_heli().

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