ardupilot/libraries/SITL/SIM_Parachute.cpp

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