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; }