mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.7 KiB
C++
61 lines
1.7 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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simple internal combustion motor simulation 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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class ICEngine {
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public:
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const uint8_t throttle_servo;
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const int8_t choke_servo;
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const int8_t ignition_servo;
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const int8_t starter_servo;
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const float slew_rate; // percent-per-second
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ICEngine(uint8_t _throttle, int8_t _choke, int8_t _ignition, int8_t _starter, float _slew_rate, bool _throttle_reversed) :
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throttle_servo(_throttle),
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choke_servo(_choke),
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ignition_servo(_ignition),
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starter_servo(_starter),
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slew_rate(_slew_rate),
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throttle_reversed(_throttle_reversed)
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{}
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// update motor state
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float update(const struct sitl_input &input);
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private:
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float last_output;
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uint64_t start_time_us;
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uint64_t last_update_us;
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union state {
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struct {
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bool choke:1;
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bool ignition:1;
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bool starter:1;
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};
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uint8_t value;
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} state, last_state;
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bool overheat:1;
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bool throttle_reversed;
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};
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}
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