SITL: add frame SA_GD2000

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -29,6 +29,7 @@
 #include <SITL/SIM_FlightAxis.h>
 #include <SITL/SIM_Calibration.h>
 #include <SITL/SIM_XPlane.h>
+#include <SITL/SIM_SA_GD2000.h>
 #include <SITL/SIM_Submarine.h>
 #include <SITL/SIM_SilentWings.h>
 #include <SITL/SIM_Morse.h>
@@ -179,6 +180,9 @@ static const struct {
     { "JSON",               JSON::create },
     { "blimp",              Blimp::create },
     { "novehicle",          NoVehicle::create },
+#if AP_SIM_SA_GD2000_ENABLED
+    { "sa_gd2000",          SA_GD2000::create },
+#endif
 #if AP_SIM_STRATOBLIMP_ENABLED
     { "stratoblimp",        StratoBlimp::create },
 #endif

libraries/SITL/SIM_SA_GD2000.cpp

@@ -0,0 +1,66 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  SA_GD2000 simulator class
+*/
+
+#include "SIM_SA_GD2000.h"
+
+#if AP_SIM_SA_GD2000_ENABLED
+
+#include <AP_Logger/AP_Logger.h>
+
+#include <stdio.h>
+
+using namespace SITL;
+
+extern const AP_HAL::HAL& hal;
+
+// SITL SA_GD2000 parameters
+const AP_Param::GroupInfo SA_GD2000::var_info[] = {
+    // @Param: MASS
+    // @DisplayName: mass
+    // @Description: mass of SA_GD2000
+    // @Units: kg
+    AP_GROUPINFO("MASS",     1, SA_GD2000,  param_mass, 907), // 907kg = 2000lbs
+
+    AP_GROUPEND
+};
+
+SA_GD2000::SA_GD2000(const char *frame_str) :
+    Plane(frame_str)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+
+    AP_Param::load_defaults_file("@ROMFS/models/sa_gd2000.parm", false);
+
+    mass = param_mass;
+    thrust_scale = 0;
+
+    launch_accel = 50;
+    launch_time = 1;
+
+    coefficient.c_drag_p = 0.05;
+}
+
+/*
+  update the vehicle simulation by one time step
+ */
+void SA_GD2000::update(const struct sitl_input &input)
+{
+    Plane::update(input);
+}
+
+#endif // AP_SIM_SA_GD2000_ENABLED

libraries/SITL/SIM_SA_GD2000.h

@@ -0,0 +1,53 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  a stratospheric blimp simulator class
+*/
+
+#pragma once
+
+#include "SIM_config.h"
+
+#if AP_SIM_SA_GD2000_ENABLED
+
+#include "SIM_Plane.h"
+#include <AP_Param/AP_Param.h>
+
+namespace SITL {
+
+/*
+  a Silent Arrow GD2000 simulator
+ */
+
+class SA_GD2000 : public Plane {
+public:
+    SA_GD2000(const char *frame_str);
+
+    /* update model by one time step */
+    void update(const struct sitl_input &input) override;
+
+    /* static object creator */
+    static Aircraft *create(const char *frame_str) {
+        return NEW_NOTHROW SA_GD2000(frame_str);
+    }
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+    AP_Float param_mass;
+};
+
+}
+#endif // AP_SIM_SA_GD2000_ENABLED

libraries/SITL/SIM_config.h

@@ -126,6 +126,10 @@
 #define AP_SIM_STRATOBLIMP_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif
 
+#ifndef AP_SIM_SA_GD2000_ENABLED
+#define AP_SIM_SA_GD2000_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
 #ifndef AP_SIM_GLIDER_ENABLED
 #define AP_SIM_GLIDER_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif

libraries/SITL/SITL.cpp

@@ -38,6 +38,7 @@
 #endif // SFML_JOYSTICK
 
 #include "SIM_StratoBlimp.h"
+#include "SIM_SA_GD2000.h"
 #include "SIM_Glider.h"
 
 extern const AP_HAL::HAL& hal;
@@ -1263,6 +1264,12 @@ const AP_Param::GroupInfo SIM::ModelParm::var_info[] = {
     AP_SUBGROUPINFO(slung_payload_sim, "SLUP_", 4, SIM::ModelParm, SlungPayloadSim),
 #endif
 
+#if AP_SIM_SA_GD2000_ENABLED
+    // @Group: GD2K_
+    // @Path: ./SIM_SA_GD2000.cpp
+    AP_SUBGROUPPTR(sa_gd2000_ptr, "GD2K_",  5, SIM::ModelParm, SA_GD2000),
+#endif
+
     AP_GROUPEND
 };
 

libraries/SITL/SITL.h

@@ -50,6 +50,7 @@ struct float_array {
 };
 
 class StratoBlimp;
+class SA_GD2000;
 class Glider;
 
 struct sitl_fdm {
@@ -318,6 +319,10 @@ class SIM {
 #if AP_SIM_STRATOBLIMP_ENABLED
         StratoBlimp *stratoblimp_ptr;
 #endif
+#if AP_SIM_SA_GD2000_ENABLED
+        SA_GD2000 *sa_gd2000_ptr;
+#endif
+
 #if AP_SIM_SHIP_ENABLED
         ShipSim shipsim;
 #endif