Description

Collaboration diagram for LittleHexy copter model:

Classes
class	chrono::copter::Copter< nop >
	Base class for any copter, template parameter nop is the number of propellers. More...

class	chrono::copter::Little_Hexy
	Little hexy (hexacopter) model. More...

Functions
	chrono::copter::Copter< nop >::Copter (ChSystem &sys, const ChVector3d &cpos, std::vector< ChVector3d > ppos, const bool clockwise[], bool are_prop_pos_rel=true, bool z_up=false)

void	chrono::copter::Copter< nop >::SetPropellerData (double mass, const ChVector3d &inerXX, double diam, double thrust_coeff, double power_coeff, double max_rpm)
	Set the propeller properties. More...

void	chrono::copter::Copter< nop >::AddVisualizationAssets (const std::string &chassismesh, const std::string &propellermesh, const ChFrame<> &cor_m1, const ChFrame<> &cor_m2)
	Add generic triangular meshes to the chassis and the propellers.

void	chrono::copter::Copter< nop >::ControlIncremental (double inputs[nop])
	Increment propeller angular velocity.

void	chrono::copter::Copter< nop >::ControlAbsolute (double inputs[nop])
	Set Propellers angular velocity.

void	chrono::copter::Copter< nop >::Update (double timestep)
	Update the copter internal physics.

void	chrono::copter::Copter< nop >::RotateCopter (ChMatrix33<> &A)
	Rotates the whole copter given a 3x3 rotation matrix.

Function Documentation

template<int nop>

chrono::copter::Copter< nop >::Copter	(	ChSystem &	sys,
		const ChVector3d &	cpos,
		std::vector< ChVector3d >	ppos,
		const bool	clockwise[],
		bool	are_prop_pos_rel = `true`,
		bool	z_up = `false`
	)

Parameters

sys	containing physical system
cpos	chassis position
ppos	propeller relative position
clockwise	rotation direction ofr each propeller
are_prop_pos_rel	if false, propeller axes position has to be given in the abs frame
z_up	orientation of vertical axis

template<int nop>

void chrono::copter::Copter< nop >::SetPropellerData	(	double	mass,
		const ChVector3d &	inerXX,
		double	diam,
		double	thrust_coeff,
		double	power_coeff,
		double	max_rpm
	)

Set the propeller properties.

Coefficient as eq 6.29 of "Aerodynamics, Aeronautics, and Flight Mechanics" by McCormick.

Parameters

mass	propeller mass
inerXX	propeller diagonal inertia (axis assumed principal)
diam	propeller diameter
thrust_coeff	propeller thrust coefficient
power_coeff	propeller power coefficient
max_rpm	propeller maximum revolutions per minute