mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
/*
|
|
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 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;
|
|
bool overheat:1;
|
|
};
|
|
}
|