public void TestTrimSweep()
{
QuadCopter model = (QuadCopter) new QuadCopter().LoadDefault();
model.FCS.trimControl = false;
TrimSweep(model);
}
public override Helicopter SetupModelForSimulation()
{
QuadCopter model = (QuadCopter) new QuadCopter().LoadDefault();
model.FCS.trimControl = false;
model.TrimInit();
model.Trim();
return(model);
}
public void TrimTheModel()
{
QuadCopter model = (QuadCopter) new QuadCopter().LoadDefault();
model.FCS.trimControl = false;
model.TrimInit();
model.Trim();
LogTrimState(model);
AssertTrimmed(model);
}
public void TorqueDirections()
{
QuadCopter model = (QuadCopter) new QuadCopter().LoadDefault();
//model.Gravity.Enabled = true;
//model.Collective = 0.5;
model.Pedal = -1.0;
model.Update(0.01);
Console.WriteLine("F " + model.Force.ToStr());
Console.WriteLine("Q " + model.Torque.ToStr());
for (var i = 0; i < 4; i++)
{
Console.WriteLine(" CT" + i + " " + model.Rotors[i].CT.ToStr());
Console.WriteLine(" b0" + i + " " + model.Rotors[i].beta_0.ToStr());
Console.WriteLine(" F" + i + " " + model.Rotors[i].Force.ToStr());
Console.WriteLine(" Q" + i + " " + model.Rotors[i].Torque.ToStr());
}
}
public QuadCopter()
{
_model = new HeliSharp.QuadCopter();
}