ardupilot/libraries/AP_RPM/RPM_SITL.cpp

49 lines
1.4 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_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "RPM_SITL.h"
extern const AP_HAL::HAL& hal;
/*
open the sensor in constructor
*/
AP_RPM_SITL::AP_RPM_SITL(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
AP_RPM_Backend(_ap_rpm, _instance, _state)
{
sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
instance = _instance;
}
void AP_RPM_SITL::update(void)
{
if (sitl == nullptr) {
return;
}
if (instance == 0) {
state.rate_rpm = sitl->state.rpm1;
} else {
state.rate_rpm = sitl->state.rpm2;
}
state.rate_rpm *= ap_rpm._scaling[state.instance];
state.signal_quality = 0.5f;
state.last_reading_ms = AP_HAL::millis();
}
#endif // CONFIG_HAL_BOARD