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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#pragma once
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#include <AP_Winch/AP_Winch_Backend.h>
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#include <SRV_Channel/SRV_Channel.h>
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class AP_Winch_PWM : public AP_Winch_Backend {
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public:
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using AP_Winch_Backend::AP_Winch_Backend;
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// true if winch is healthy
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bool healthy() const override;
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// control the winch
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void update() override;
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// returns current length of line deployed
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float get_current_length() const override { return line_length; }
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// send status to ground station
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void send_status(const GCS_MAVLINK &channel) override;
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// write log
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void write_log() override;
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private:
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// update pwm outputs to control winch
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void control_winch();
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uint32_t control_update_ms; // last time control_winch was called
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float line_length; // estimated length of line in meters
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};
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