mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.8 KiB
C++
67 lines
1.8 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 sprayer simulation class
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*/
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#pragma once
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#include "stdint.h"
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#include <AP_Param/AP_Param.h>
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#include "SITL_Input.h"
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namespace SITL {
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class Sprayer {
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public:
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Sprayer() {
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AP_Param::setup_object_defaults(this, var_info);
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};
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// update sprayer state
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void update(const struct sitl_input &input);
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float payload_mass() const { return static_cast<float>(capacity); }; // kg; water, so kg=l
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static const struct AP_Param::GroupInfo var_info[];
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bool is_enabled() const {return static_cast<bool>(sprayer_enable);}
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private:
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AP_Int8 sprayer_enable; // enable sprayer sim
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AP_Int8 sprayer_pump_pin;
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AP_Int8 sprayer_spin_pin;
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const uint32_t report_interval = 1000000; // microseconds
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uint64_t last_report_us;
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const float pump_max_rate = 0.01f; // litres/second
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const float pump_slew_rate = 20.0f; // percent/second
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float last_pump_output; // percentage
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const float spinner_max_rate = 3600.0f; // degrees/second
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const float spinner_slew_rate = 20.0f; // percent/second
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float last_spinner_output; // percentage
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double capacity = 0.25; // litres
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uint64_t last_update_us;
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bool should_report();
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bool zero_report_done = false;
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};
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}
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