mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.5 KiB
C
52 lines
1.5 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simple model of a servo. Model is:
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- time delay for transport protocol delay
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- slew limit
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- 2-pole butterworth
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*/
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#include <Filter/LowPassFilter2p.h>
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#include <Filter/LowPassFilter.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include <AP_Param/AP_Param.h>
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class ServoModel {
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public:
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float filter_angle(uint16_t pwm, float dt);
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float filter_range(uint16_t pwm, float dt);
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void set_pwm_range(uint16_t _pwm_min, uint16_t _pwm_max);
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void set_deflection(float _angle_deg);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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float apply_filter(float v, float dt);
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float apply_simple_filter(float v, float dt);
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LowPassFilter2pFloat filter;
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LowPassFilterFloat filter1p;
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ObjectBuffer<float> *delay;
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float last_v;
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float delta_max;
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uint16_t pwm_min = 1000;
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uint16_t pwm_max = 2000;
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float angle_deg = 45.0;
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};
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