mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-07 05:35:54 +08:00
733ddb2b81
Only one ever exists so there's little reason to construct all possibilities ahead of time and store them in global RAM. Instead, keep a list of the parameters and only construct the one requested. Saves some 60K of RAM on hardware when using sim on hardware. In particular, enough is saved to get esp32empty copter building again. But esp32 sim on hardware still does not work due to other regressions.
89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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multicopter simulator class
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*/
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#include "SIM_Multicopter.h"
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#include <AP_Motors/AP_Motors.h>
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#include <stdio.h>
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using namespace SITL;
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MultiCopter::MultiCopter(const char *frame_str) :
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Aircraft(frame_str)
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{
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frame = Frame::create_frame(frame_str);
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if (frame == nullptr) {
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printf("Frame '%s' not found or insufficient memory", frame_str);
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exit(1);
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}
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frame->init(frame_str, &battery);
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mass = frame->get_mass();
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frame_height = 0.1;
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ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;
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lock_step_scheduled = true;
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}
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// calculate rotational and linear accelerations
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void MultiCopter::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel)
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{
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motor_mask |= ((1U<<frame->num_motors)-1U) << frame->motor_offset;
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frame->calculate_forces(*this, input, rot_accel, body_accel, rpm);
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add_shove_forces(rot_accel, body_accel);
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add_twist_forces(rot_accel);
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// add forces from slung payload or tether payload
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add_external_forces(body_accel);
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}
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/*
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update the multicopter simulation by one time step
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*/
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void MultiCopter::update(const struct sitl_input &input)
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{
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// get wind vector setup
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update_wind(input);
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Vector3f rot_accel;
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calculate_forces(input, rot_accel, accel_body);
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// simulated clamp holding vehicle down
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if (clamp.clamped(*this, input)) {
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rot_accel.zero();
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accel_body.zero();
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}
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// estimate voltage and current
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frame->current_and_voltage(battery_voltage, battery_current);
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battery.set_current(battery_current);
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update_dynamics(rot_accel);
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update_external_payload(input);
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// update lat/lon/altitude
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update_position();
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time_advance();
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// update magnetic field
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update_mag_field_bf();
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}
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