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- #pragma once
- #include "SIM_Aircraft.h"
- namespace SITL {
- class Helicopter : public Aircraft {
- public:
- Helicopter(const char *frame_str);
-
- void update(const struct sitl_input &input) override;
-
- static Aircraft *create(const char *frame_str) {
- return new Helicopter(frame_str);
- }
- private:
- float terminal_rotation_rate = 4*radians(360.0f);
- float hover_throttle = 0.65f;
- float terminal_velocity = 40;
- float hover_lean = 3.0f;
- float yaw_zero = 0.1f;
- float rotor_rot_accel = radians(20);
- float roll_rate_max = radians(1400);
- float pitch_rate_max = radians(1400);
- float yaw_rate_max = radians(1400);
- float rsc_setpoint = 0.8f;
- float thrust_scale;
- float tail_thrust_scale;
- enum frame_types {
- HELI_FRAME_CONVENTIONAL,
- HELI_FRAME_DUAL,
- HELI_FRAME_COMPOUND
- } frame_type = HELI_FRAME_CONVENTIONAL;
- bool gas_heli = false;
- };
- }
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