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https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Antoine Drouin
81 lines
1.1 KiB
C
81 lines
1.1 KiB
C
#ifndef NPS_FDM
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#define NPS_FDM
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#include "std.h"
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#include <matrix.h>
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struct NpsFdmState {
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// generic vehicle state
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bool_t on_ground;
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VEC* ecef_pos;
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VEC* ecef_speed;
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VEC* ecef_accel;
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VEC* ltp_to_body_quat;
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VEC* ltp_body_rate;
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VEC* ltp_body_accel;
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VEC* ecef_to_ltp_quat;
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// vehicle specific
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union {
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struct NpsDummy dummy;
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struct NpsQuad quad;
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struct NpsSFW fw;
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};
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};
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struct NpsDummy {
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/* force applied to the ball in Newton */
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double f_input;
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};
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#define NPS_QUAD_MOTOR_FRONT 0
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#define NPS_QUAD_MOTOR_BACK 1
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#define NPS_QUAD_MOTOR_RIGHT 2
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#define NPS_QUAD_MOTOR_LEFT 3
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#define NPS_QUAD_MOTOR_NB 4
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struct NpsQuad {
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/* battery voltage in V */
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double battery;
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/* motor commands [0:1]
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VEC* motor_commands;
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/* propeller rotation speed in rad/s */
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VEC* prop_omega;
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};
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#define NPS_SFW_ACTUATOR_THROTTLE 0
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#define NPS_SFW_ACTUATOR_AILERON_R 1
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#define NPS_SFW_ACTUATOR_AILERON_L 2
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#define NPS_SFW_ACTUATOR_NB 3
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struct NpsSFW {
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double prop_omega;
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/*
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deflection of control surfaces in radian
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normalized throttle [0:1]
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*/
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VEC* actuators;
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}
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#endif /* NPS_FDM */
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