ardupilot/libraries/SITL/SIM_ICEngine.h

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2016-07-15 05:29:12 -03:00
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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 internal combustion motor simulation class
*/
#pragma once
#include "SIM_Aircraft.h"
namespace SITL {
class ICEngine {
public:
const uint8_t throttle_servo;
const int8_t choke_servo;
const int8_t ignition_servo;
const int8_t starter_servo;
const float slew_rate; // percent-per-second
ICEngine(uint8_t _throttle, int8_t _choke, int8_t _ignition, int8_t _starter, float _slew_rate) :
throttle_servo(_throttle),
choke_servo(_choke),
ignition_servo(_ignition),
starter_servo(_starter),
slew_rate(_slew_rate)
{}
// update motor state
float update(const struct Aircraft::sitl_input &input);
private:
float last_output;
uint64_t start_time_us;
uint64_t last_update_us;
union state {
struct {
bool choke:1;
bool ignition:1;
bool starter:1;
};
uint8_t value;
} state, last_state;
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bool overheat:1;
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};
}