mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Stephen Dwyer
96 lines
3.0 KiB
C
96 lines
3.0 KiB
C
/*
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* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi 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 2, or (at your option)
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* any later version.
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*
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* paparazzi 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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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#ifndef NPS_FDM
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#define NPS_FDM
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#include "std.h"
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#include "math/pprz_geodetic_double.h"
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#include "math/pprz_algebra_double.h"
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/*
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Notations for fdm variables
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---------------------------
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coordinate system [ frame ] name
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ecef_inertial_vel is the time derivative of position
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with respect to inertial frame expressed in ECEF ( Earth Centered Earth Fixed)
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coordinate system.
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*/
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struct NpsFdm {
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double time;
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double init_dt;
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double curr_dt;
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bool_t on_ground;
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/* position */
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struct EcefCoor_d ecef_pos;
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struct NedCoor_d ltpprz_pos;
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struct LlaCoor_d lla_pos;
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double hmsl;
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// for debugging
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struct LlaCoor_d lla_pos_pprz; //lla converted by pprz from ecef
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struct LlaCoor_d lla_pos_geod; //geodetic lla from jsbsim
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struct LlaCoor_d lla_pos_geoc; //geocentric lla from jsbsim
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double agl; //AGL from jsbsim in m
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/* velocity and acceleration wrt inertial frame expressed in ecef frame */
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// struct EcefCoor_d ecef_inertial_vel;
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// struct EcefCoor_d ecef_inertial_accel;
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/* velocity and acceleration wrt ecef frame expressed in ecef frame */
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struct EcefCoor_d ecef_ecef_vel;
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struct EcefCoor_d ecef_ecef_accel;
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/* velocity and acceleration wrt ecef frame expressed in body frame */
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struct DoubleVect3 body_ecef_vel; /* aka UVW */
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struct DoubleVect3 body_ecef_accel;
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/* velocity and acceleration wrt ecef frame expressed in ltp frame */
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struct NedCoor_d ltp_ecef_vel;
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struct NedCoor_d ltp_ecef_accel;
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/* velocity and acceleration wrt ecef frame expressed in ltppprz frame */
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struct NedCoor_d ltpprz_ecef_vel;
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struct NedCoor_d ltpprz_ecef_accel;
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/* attitude */
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struct DoubleQuat ecef_to_body_quat;
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struct DoubleQuat ltp_to_body_quat;
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struct DoubleEulers ltp_to_body_eulers;
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struct DoubleQuat ltpprz_to_body_quat;
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struct DoubleEulers ltpprz_to_body_eulers;
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/* velocity and acceleration wrt ecef frame expressed in body frame */
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struct DoubleRates body_ecef_rotvel;
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struct DoubleRates body_ecef_rotaccel;
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struct DoubleVect3 ltp_g;
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struct DoubleVect3 ltp_h;
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};
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extern struct NpsFdm fdm;
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extern void nps_fdm_init(double dt);
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extern void nps_fdm_run_step(double* commands);
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#endif /* NPS_FDM */
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