mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.3 KiB
C++
39 lines
1.3 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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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "WheelEncoder_Backend.h"
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#include <AP_Math/AP_Math.h>
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#include <SITL/SITL.h>
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class AP_WheelEncoder_SITL_Qaudrature : public AP_WheelEncoder_Backend
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{
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public:
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// constructor
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AP_WheelEncoder_SITL_Qaudrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state);
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// update state
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void update(void) override;
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private:
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SITL::SIM *_sitl; // pointer to SITL singleton
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int32_t _distance_count; // distance count as number of encoder ticks
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uint32_t _total_count; // total number of encoder ticks
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};
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#endif // CONFIG_HAL_BOARD
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