public ModellingEnvironment()
{
RotorGroup = new RotorGroup(0.04, 0.12, 0.254);
Frame = new Frame(RotorGroup);
Controller = new Controller(Frame, RotorGroup);
SimulationTime = 10;
SamplingPeriod = 0.01;
}
public Controller(Frame frame, RotorGroup rotorGroup)
{
_frame = frame;
_rotorGroup = rotorGroup;
IsControllerEnabled = false;
RPM = new int[4];
RollDesired = 0; PitchDesired = 0; YawDesired = 0;
RollSpeedDesired = 0; PitchSpeedDesired = 0; YawSpeedDesired = 0;
YDesired = 10; YSpeedDesired = 0;
ThrustPropCoef = 1; ThrustDifCoef = 1; ThrustIntCoef = 0;
RollPropCoef = 1; RollDifCoef = 1; RollIntCoef = 0;
PitchPropCoef = 1; PitchDifCoef = 1; PitchIntCoef = 0;
YawPropCoef = 1; YawDifCoef = 1; YawIntCoef = 0;
}
public FrameViewModel(Frame frame)
{
Frame = frame;
}