mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.6 KiB
C++
60 lines
1.6 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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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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using Aircraft::Aircraft;
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void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return NEW_NOTHROW Tracker(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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uint64_t last_debug_us;
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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) const;
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void update_onoff_servos(float &yaw_rate, float &pitch_rate) const;
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};
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} // namespace SITL
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