mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
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 One line instead of three, less scopes to close in the end of the file, no chance to having the outdated names in the define symbol.
79 lines
2.1 KiB
C++
79 lines
2.1 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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simulator connection for ardupilot version of last_letter
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*/
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#pragma once
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a last_letter simulator
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*/
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class last_letter : public Aircraft {
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public:
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last_letter(const char *home_str, const char *frame_str);
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/* update model by one time step */
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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 last_letter(home_str, frame_str);
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}
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private:
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static const uint16_t fdm_port = 9002;
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/*
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packet sent to last_letter
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*/
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struct servo_packet {
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uint16_t servos[16];
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};
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/*
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reply packet sent from last_letter to ArduPilot
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*/
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struct fdm_packet {
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uint64_t timestamp_us; // simulation time in microseconds
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double latitude, longitude;
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double altitude;
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double heading;
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double speedN, speedE, speedD;
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double xAccel, yAccel, zAccel;
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double rollRate, pitchRate, yawRate;
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double roll, pitch, yaw;
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double airspeed;
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};
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void recv_fdm(const struct sitl_input &input);
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void send_servos(const struct sitl_input &input);
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void start_last_letter(void);
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uint64_t last_timestamp_us;
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SocketAPM sock;
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const char *frame_str;
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};
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} // namespace SITL
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