ardupilot/libraries/AP_ESC_Telem/AP_ESC_Telem_SITL.cpp

51 lines
1.2 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/>.
*/
#include "AP_ESC_Telem_SITL.h"
#include "AP_ESC_Telem.h"
#include <AP_HAL/AP_HAL.h>
#include <SITL/SITL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL& hal;
AP_ESC_Telem_SITL::AP_ESC_Telem_SITL()
{
}
void AP_ESC_Telem_SITL::update()
{
SITL::SITL* sitl = AP::sitl();
if (!sitl) {
return;
}
if (is_zero(sitl->throttle)) {
return;
}
#if HAL_WITH_ESC_TELEM
for (uint8_t i = 0; i < sitl->state.num_motors; i++) {
update_rpm(i, sitl->state.rpm[sitl->state.vtol_motor_start+i]);
}
#endif
}
#endif