ardupilot/libraries/SITL/SIM_Parachute.h

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/*
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/>.
*/
/*
simple parachute simulation class
*/
#pragma once
#include "stdint.h"
#include <AP_Param/AP_Param.h>
#include "SITL_Input.h"
#include <AP_Math/AP_Math.h>
namespace SITL {
class Parachute {
public:
Parachute() {
AP_Param::setup_object_defaults(this, var_info);
};
// update parachute state
void update(const struct sitl_input &input);
Vector3f drag() const;
static const struct AP_Param::GroupInfo var_info[];
bool is_enabled() const {return static_cast<bool>(parachute_enable);}
private:
AP_Int8 parachute_enable; // enable parachute sim
AP_Int8 parachute_pin; // pin with pyrotechnics on
const uint32_t report_interval = 1000000; // microseconds
uint64_t last_report_us;
uint32_t deployed_ms; // time parachute was deployed
uint64_t last_update_us;
bool should_report() const;
bool zero_report_done = false;
};
}