mirror of https://github.com/ArduPilot/ardupilot
25 lines
1.2 KiB
C
25 lines
1.2 KiB
C
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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class AP_Torqeedo_Params {
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public:
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static const struct AP_Param::GroupInfo var_info[];
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AP_Torqeedo_Params(void);
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Torqeedo_Params);
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// parameters
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AP_Int8 type; // connector type used (0:disabled, 1:tiller connector, 2:motor connector)
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AP_Int8 pin_onoff; // Pin number connected to Torqeedo's on/off pin. -1 to disable turning motor on/off from autopilot
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AP_Int8 pin_de; // Pin number connected to RS485 to Serial converter's DE pin. -1 to disable sending commands to motor
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AP_Int16 options; // options bitmask
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AP_Int8 motor_power; // motor power (0 ~ 100). only applied when using motor connection
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AP_Float slew_time; // slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. A value of zero disables the limit
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AP_Float dir_delay; // direction change delay. output will remain at zero for this many seconds when transitioning between forward and backwards rotation
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AP_Int16 servo_fn; // servo output function number
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};
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