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