mirror of
https://github.com/ArduPilot/ardupilot
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11b599bcd0
For the general case, pragma once is better replacement for of include guards. One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
61 lines
1.8 KiB
C++
61 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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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antenna-tracker simulator class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a antenna tracker simulator
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*/
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class Tracker : public Aircraft {
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public:
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Tracker(const char *home_str, const char *frame_str);
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void update(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new Tracker(home_str, frame_str);
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}
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private:
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const bool onoff = false;
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const float yawrate = 9.0f;
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const float pitchrate = 1.0f;
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const float pitch_range = 45;
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const float yaw_range = 170;
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const float zero_yaw = 270; // yaw direction at startup
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const float zero_pitch = 10; // pitch at startup
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bool verbose = false;
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uint64_t last_debug_us = 0;
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float pitch_input;
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float yaw_input;
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float yaw_current_relative;
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float pitch_current_relative;
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void update_position_servos(float delta_time, float &yaw_rate, float &pitch_rate);
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void update_onoff_servos(float &yaw_rate, float &pitch_rate);
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};
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} // namespace SITL
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