mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
/*
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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 simulator class
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*/
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#include "SIM_Parachute.h"
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#include "AP_HAL/AP_HAL.h"
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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using namespace SITL;
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// table of user settable parameters
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const AP_Param::GroupInfo Parachute::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Gripper servo Sim enable/disable
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// @Description: Allows you to enable (1) or disable (0) the gripper servo simulation
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 0, Parachute, parachute_enable, 0),
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// @Param: PIN
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// @DisplayName: Parachute pin
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// @Description: The pin number that the Parachute pyrotechnics are connected to. (start at 1)
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// @Range: 0 15
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// @User: Advanced
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AP_GROUPINFO("PIN", 1, Parachute, parachute_pin, -1),
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AP_GROUPEND
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};
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/*
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update parachute state
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*/
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void Parachute::update(const struct sitl_input &input)
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{
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const int16_t pwm = parachute_pin >= 1 ? input.servos[parachute_pin-1] : -1;
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const uint64_t now = AP_HAL::micros64();
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// const float dt = (now - last_update_us) * 1.0e-6f;
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if (pwm >= 1250) {
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if (!deployed_ms) {
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deployed_ms = AP_HAL::millis();
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gcs().send_text(MAV_SEVERITY_WARNING, "BANG! Parachute deployed");
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}
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}
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last_update_us = now;
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}
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bool Parachute::should_report()
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{
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if (AP_HAL::micros64() - last_report_us < report_interval) {
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return false;
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}
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return false;
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}
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