#include <SIM_Helicopter.h>

Inheritance diagram for SITL::Helicopter:

Collaboration diagram for SITL::Helicopter:

Public Member Functions
	Helicopter (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 Types
enum	frame_types { HELI_FRAME_CONVENTIONAL, HELI_FRAME_DUAL, HELI_FRAME_COMPOUND }

Private Attributes
float	terminal_rotation_rate = 4*radians(360.0f)

float	hover_throttle = 0.65f

float	terminal_velocity = 40

float	hover_lean = 3.0f

float	yaw_zero = 0.1f

float	rotor_rot_accel = radians(20)

float	roll_rate_max = radians(1400)

float	pitch_rate_max = radians(1400)

float	yaw_rate_max = radians(1400)

float	rsc_setpoint = 0.8f

float	thrust_scale

float	tail_thrust_scale

enum SITL::Helicopter::frame_types	frame_type = HELI_FRAME_CONVENTIONAL

bool	gas_heli = false

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 28 of file SIM_Helicopter.h.

Member Enumeration Documentation

◆ frame_types

enum SITL::Helicopter::frame_types

private

Enumerator
HELI_FRAME_CONVENTIONAL
HELI_FRAME_DUAL
HELI_FRAME_COMPOUND

Definition at line 53 of file SIM_Helicopter.h.

Constructor & Destructor Documentation

◆ Helicopter()

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

Definition at line 25 of file SIM_Helicopter.cpp.

Referenced by create().

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Member Function Documentation

◆ create()

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

inlinestatic

Definition at line 36 of file SIM_Helicopter.h.

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◆ update()

void SITL::Helicopter::update ( const struct sitl_input & input )

virtual

Implements SITL::Aircraft.

Definition at line 56 of file SIM_Helicopter.cpp.

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Member Data Documentation

◆ frame_type

enum SITL::Helicopter::frame_types SITL::Helicopter::frame_type = HELI_FRAME_CONVENTIONAL

private

Referenced by Helicopter(), and update().

◆ gas_heli

bool SITL::Helicopter::gas_heli = false

private

Definition at line 58 of file SIM_Helicopter.h.

Referenced by Helicopter(), and update().

◆ hover_lean

float SITL::Helicopter::hover_lean = 3.0f

private

Definition at line 44 of file SIM_Helicopter.h.

Referenced by Helicopter().

◆ hover_throttle

float SITL::Helicopter::hover_throttle = 0.65f

private

Definition at line 42 of file SIM_Helicopter.h.

Referenced by Helicopter().

◆ pitch_rate_max

float SITL::Helicopter::pitch_rate_max = radians(1400)

private

Definition at line 48 of file SIM_Helicopter.h.

Referenced by update().

◆ roll_rate_max

float SITL::Helicopter::roll_rate_max = radians(1400)

private

Definition at line 47 of file SIM_Helicopter.h.

Referenced by update().

◆ rotor_rot_accel

float SITL::Helicopter::rotor_rot_accel = radians(20)

private

Definition at line 46 of file SIM_Helicopter.h.

Referenced by update().

◆ rsc_setpoint

float SITL::Helicopter::rsc_setpoint = 0.8f

private

Definition at line 50 of file SIM_Helicopter.h.

Referenced by update().

◆ tail_thrust_scale

float SITL::Helicopter::tail_thrust_scale

private

Definition at line 52 of file SIM_Helicopter.h.

Referenced by Helicopter(), and update().

◆ terminal_rotation_rate

float SITL::Helicopter::terminal_rotation_rate = 4*radians(360.0f)

private

Definition at line 41 of file SIM_Helicopter.h.

Referenced by update().

◆ terminal_velocity

float SITL::Helicopter::terminal_velocity = 40

private

Definition at line 43 of file SIM_Helicopter.h.

Referenced by update().

◆ thrust_scale

float SITL::Helicopter::thrust_scale

private

Definition at line 51 of file SIM_Helicopter.h.

Referenced by Helicopter(), and update().

◆ yaw_rate_max

float SITL::Helicopter::yaw_rate_max = radians(1400)

private

Definition at line 49 of file SIM_Helicopter.h.

Referenced by update().

◆ yaw_zero

float SITL::Helicopter::yaw_zero = 0.1f

private

Definition at line 45 of file SIM_Helicopter.h.

Referenced by Helicopter().

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

libraries/SITL/SIM_Helicopter.h
libraries/SITL/SIM_Helicopter.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ frame_types

Constructor & Destructor Documentation

◆ Helicopter()

Member Function Documentation

◆ create()

◆ update()

Member Data Documentation

◆ frame_type

◆ gas_heli

◆ hover_lean

◆ hover_throttle

◆ pitch_rate_max

◆ roll_rate_max

◆ rotor_rot_accel

◆ rsc_setpoint

◆ tail_thrust_scale

◆ terminal_rotation_rate

◆ terminal_velocity

◆ thrust_scale

◆ yaw_rate_max

◆ yaw_zero