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