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 Frame(RotorGroup rotorGroup)
{
_rotorGroup = rotorGroup;
Ixx = 0.02;
Iyy = 0.04;
Izz = 0.02;
Mass = 1.5;
ArmLength = 0.25;
XInitial = 0;
YInitial = 0;
ZInitial = 0;
RollInitial = new Angle(0);
PitchInitial = new Angle(0);
YawInitial = new Angle(0);
X = 0;
Y = 0;
Z = 0;
XSpeed = 0;
YSpeed = 0;
ZSpeed = 0;
Roll = new Angle(0);
Pitch = new Angle(0);
Yaw = new Angle(0);
RollSpeed = 0;
PitchSpeed = 0;
YawSpeed = 0;
XAngSpeed = 0;
YAngSpeed = 0;
ZAngSpeed = 0;
}
public RotorGroupViewModel(RotorGroup rotorGroup)
{
RotorGroup = rotorGroup;
}