mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
54 lines
1.8 KiB
OCaml
54 lines
1.8 KiB
OCaml
(*
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* Basic flight model for simulation
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*
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* Copyright (C) 2004-2006 Pascal Brisset, Antoine Drouin
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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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*)
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type meter = float
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type meter_s = float
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type radian = float
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type radian_s = float
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type state
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val get_xyz : state -> meter * meter * meter
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val get_time : state -> float
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val get_attitude : state -> radian * radian * radian
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val get_pqr : state -> radian_s * radian_s * radian_s
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val set_air_speed : state -> meter_s -> unit
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val get_air_speed : state -> meter_s
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module type SIG =
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sig
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val init : radian -> state
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val do_commands : state -> Stdlib.pprz_t array -> unit
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val nb_commands : int
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val nominal_airspeed : float (* m/s *)
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val max_bat_level : float (* V *)
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val roll_neutral_default : float (* rad *)
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val pitch_neutral_default : float (* rad *)
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val state_update : state -> float -> float * float *float -> float -> float -> unit
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(** [state_update nom_airspeed state (wind_x, wind_y, wind_z) on_ground dt] With m/s for wind and s for
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dt *)
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end
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module Make : functor (A : Data.MISSION) -> SIG
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