mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.2 KiB
C++
51 lines
1.2 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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#include "AP_ESC_Telem_SITL.h"
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#include "AP_ESC_Telem.h"
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#include <AP_HAL/AP_HAL.h>
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#include <SITL/SITL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_Math/AP_Math.h>
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extern const AP_HAL::HAL& hal;
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AP_ESC_Telem_SITL::AP_ESC_Telem_SITL()
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{
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}
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void AP_ESC_Telem_SITL::update()
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{
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SITL::SITL* sitl = AP::sitl();
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if (!sitl) {
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return;
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}
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if (is_zero(sitl->throttle)) {
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return;
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}
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#if HAL_WITH_ESC_TELEM
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for (uint8_t i = 0; i < sitl->state.num_motors; i++) {
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update_rpm(i, sitl->state.rpm[sitl->state.vtol_motor_start+i]);
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}
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#endif
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}
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#endif |