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https://github.com/ArduPilot/ardupilot
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1915244960
In file included from ../../libraries/SITL/SIM_last_letter.cpp:19:
../../libraries/SITL/SIM_last_letter.h:74:17: warning: private field
'frame_str' is not used [-Wunused-private-field]
const char *frame_str;
SITL: correct compiler warning
In file included from ../../libraries/SITL/SIM_Sprayer.cpp:19:
../../libraries/SITL/SIM_Sprayer.h:55:14: warning: private field
'start_time_us' is not used [-Wunused-private-field]
uint64_t start_time_us;
SITL: correct compiler warnings
In file included from ../../libraries/SITL/SIM_Gripper_Servo.cpp:19:
../../libraries/SITL/SIM_Gripper_Servo.h:56:10: warning: private field
'zero_report_done' is not used [-Wunused-private-field]
bool zero_report_done = false;
SITL: correct compiler warnings
In file included from ../../libraries/SITL/SIM_ADSB.cpp:19:
../../libraries/SITL/SIM_ADSB.h:49:28: warning: private field 'fdm' is
not used [-Wunused-private-field]
const struct sitl_fdm &fdm;
62 lines
1.7 KiB
C++
62 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 sprayer 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 Sprayer {
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public:
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const uint8_t pump_servo;
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const int8_t spinner_servo;
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Sprayer(const uint8_t _pump_servo, int8_t _spinner_servo) :
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pump_servo(_pump_servo),
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spinner_servo(_spinner_servo)
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{}
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// update sprayer state
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void update(const struct Aircraft::sitl_input &input);
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float payload_mass() const { return capacity; }; // kg; water, so kg=l
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private:
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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 = 0.01; // litres/second
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const float pump_slew_rate = 20; // percent/scond
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float last_pump_output; // percentage
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const float spinner_max_rate = 3600; // degrees/second
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const float spinner_slew_rate = 20; // 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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