Пример #1
0
// calculate rotational and linear accelerations
void Frame::calculate_forces(const Aircraft &aircraft,
                             const Aircraft::sitl_input &input,
                             Vector3f &rot_accel,
                             Vector3f &body_accel)
{
    // rotational acceleration, in rad/s/s, in body frame
    float thrust = 0.0f; // newtons

    for (uint8_t i=0; i<num_motors; i++) {
        float motor_speed = constrain_float((input.servos[motor_offset+motors[i].servo]-1100)/900.0, 0, 1);
        rot_accel.x  += -radians(5000.0) * sinf(radians(motors[i].angle)) * motor_speed;
        rot_accel.y  +=  radians(5000.0) * cosf(radians(motors[i].angle)) * motor_speed;
        rot_accel.z += motors[i].yaw_factor * motor_speed * radians(400.0);
        thrust += motor_speed * thrust_scale; // newtons
    }

    body_accel = Vector3f(0, 0, -thrust / mass);

    if (terminal_rotation_rate > 0) {
        // rotational air resistance
        const Vector3f &gyro = aircraft.get_gyro();
        rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate;
        rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate;
        rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
    }

    if (terminal_velocity > 0) {
        // air resistance
        Vector3f air_resistance = -aircraft.get_velocity_ef() * (GRAVITY_MSS/terminal_velocity);
        body_accel += aircraft.get_dcm().transposed() * air_resistance;
    }

    // add some noise
    const float gyro_noise = radians(0.1);
    const float accel_noise = 0.3;
    const float noise_scale = thrust / (thrust_scale * num_motors);
    rot_accel += Vector3f(aircraft.rand_normal(0, 1),
                          aircraft.rand_normal(0, 1),
                          aircraft.rand_normal(0, 1)) * gyro_noise * noise_scale;
    body_accel += Vector3f(aircraft.rand_normal(0, 1),
                           aircraft.rand_normal(0, 1),
                           aircraft.rand_normal(0, 1)) * accel_noise * noise_scale;
}
Пример #2
0
// calculate rotational and linear accelerations
void Frame::calculate_forces(const Aircraft &aircraft,
                             const Aircraft::sitl_input &input,
                             Vector3f &rot_accel,
                             Vector3f &body_accel)
{
    Vector3f thrust; // newtons

    for (uint8_t i=0; i<num_motors; i++) {
        Vector3f mraccel, mthrust;
        motors[i].calculate_forces(input, thrust_scale, motor_offset, mraccel, mthrust);
        rot_accel += mraccel;
        thrust += mthrust;
    }

    body_accel = thrust/aircraft.gross_mass();

    if (terminal_rotation_rate > 0) {
        // rotational air resistance
        const Vector3f &gyro = aircraft.get_gyro();
        rot_accel.x -= gyro.x * radians(400.0) / terminal_rotation_rate;
        rot_accel.y -= gyro.y * radians(400.0) / terminal_rotation_rate;
        rot_accel.z -= gyro.z * radians(400.0) / terminal_rotation_rate;
    }

    if (terminal_velocity > 0) {
        // air resistance
        Vector3f air_resistance = -aircraft.get_velocity_air_ef() * (GRAVITY_MSS/terminal_velocity);
        body_accel += aircraft.get_dcm().transposed() * air_resistance;
    }

    // add some noise
    const float gyro_noise = radians(0.1);
    const float accel_noise = 0.3;
    const float noise_scale = thrust.length() / (thrust_scale * num_motors);
    rot_accel += Vector3f(aircraft.rand_normal(0, 1),
                          aircraft.rand_normal(0, 1),
                          aircraft.rand_normal(0, 1)) * gyro_noise * noise_scale;
    body_accel += Vector3f(aircraft.rand_normal(0, 1),
                           aircraft.rand_normal(0, 1),
                           aircraft.rand_normal(0, 1)) * accel_noise * noise_scale;
}