mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.1 KiB
C++
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;
|
|
}
|