UAVSimulation
UAVSimulation::update(const double& timestep)
{
//! Check if model has the required commands
//! - Airspeed
if (!m_airspeed_cmd_ini)
{
throw Error("Airspeed command missing! The state was not updated.");
//inf("No model parameters defined! The state was not updated.");
return *this;
}
if (m_sim_type == "4DOF_bank")
update4DOF_Bank(timestep);
else if (m_sim_type == "5DOF")
{
if (m_altitude_cmd_ini)
update5DOF(timestep);
else
throw Error("Altitude command missing! The state was not updated.");
}
else if (m_sim_type == "4DOF_alt")
{
if (m_altitude_cmd_ini)
update4DOF_Alt(timestep);
else
throw Error("Altitude command missing! The state was not updated.");
}
else if (m_sim_type == "3DOF")
update3DOF(timestep);
return *this;
}
UAVSimulation
UAVSimulation::update(const double& timestep)
{
//! Check if model has the required commands
//! - Airspeed
if (!m_airspeed_cmd_ini)
{
throw Error("Airspeed command missing! The state was not updated.");
//inf("No model parameters defined! The state was not updated.");
return *this;
}
//! Time step control
double d_timestep;
if (m_timestep_lim > 0.0 && timestep > m_timestep_lim)
d_timestep = m_timestep_lim;
else
d_timestep = timestep;
if (m_sim_type.compare("4DOF_bank") == 0)
update4DOF_Bank(d_timestep);
else if (m_sim_type.compare("5DOF") == 0)
{
if (m_altitude_cmd_ini || m_fpa_cmd_ini)
update5DOF(d_timestep);
else
throw Error("Altitude command missing! The state was not updated.");
}
else if (m_sim_type.compare("4DOF_alt") == 0)
{
if (m_altitude_cmd_ini || m_fpa_cmd_ini)
update4DOF_Alt(d_timestep);
else
throw Error("Altitude command missing! The state was not updated.");
}
else if (m_sim_type.compare("3DOF") == 0)
update3DOF(d_timestep);
//else if (m_sim_type.compare("6DOF_stab") == 0)
// update6DOF_Stab(d_timestep);
return *this;
}