SITL::MultiCopter Class Reference

#include <SIM_Multicopter.h>

Inheritance diagram for SITL::MultiCopter:

Collaboration diagram for SITL::MultiCopter:

Public Member Functions
	MultiCopter (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
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)

Protected Member Functions
void	calculate_forces (const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel)
float	gross_mass () const override
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
Frame *	frame
Sprayer	sprayer {6, 7}
Gripper_Servo	gripper {8}
Gripper_EPM	gripper_epm {9}
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

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 }

Detailed Description

Definition at line 34 of file SIM_Multicopter.h.

Constructor & Destructor Documentation

MultiCopter()

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

Definition at line 26 of file SIM_Multicopter.cpp.

Referenced by create().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Function Documentation

calculate_forces()

void MultiCopter::calculate_forces ( const struct sitl_input &  input, Vector3f &  rot_accel, Vector3f &  body_accel  )

protected

Definition at line 51 of file SIM_Multicopter.cpp.

Referenced by create(), and update().

Here is the call graph for this function:

Here is the caller graph for this function:

create()

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

inlinestatic

Definition at line 42 of file SIM_Multicopter.h.

Here is the call graph for this function:

gross_mass()

float MultiCopter::gross_mass ( ) const

overrideprotectedvirtual

Reimplemented from SITL::Aircraft.

Definition at line 85 of file SIM_Multicopter.cpp.

Referenced by MultiCopter().

Here is the call graph for this function:

Here is the caller graph for this function:

update()

void MultiCopter::update ( const struct sitl_input &  input )

virtual

Implements SITL::Aircraft.

Definition at line 59 of file SIM_Multicopter.cpp.

Here is the call graph for this function:

Member Data Documentation

frame

Frame* SITL::MultiCopter::frame

protected

Definition at line 49 of file SIM_Multicopter.h.

Referenced by calculate_forces(), and MultiCopter().

gripper

Gripper_Servo SITL::MultiCopter::gripper {8}

protected

Definition at line 53 of file SIM_Multicopter.h.

Referenced by gross_mass(), MultiCopter(), and update().

gripper_epm

Gripper_EPM SITL::MultiCopter::gripper_epm {9}

protected

Definition at line 54 of file SIM_Multicopter.h.

Referenced by update().

sprayer

Sprayer SITL::MultiCopter::sprayer {6, 7}

protected

Definition at line 52 of file SIM_Multicopter.h.

Referenced by gross_mass(), and update().

---

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

• libraries/SITL/SIM_Multicopter.h
• libraries/SITL/SIM_Multicopter.cpp