mirror of https://github.com/ArduPilot/ardupilot
58 lines
2.0 KiB
C++
58 lines
2.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_Curve.h
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/// @brief used to transforms a pwm value to account for the non-linear pwm->thrust values of normal ESC+motors
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#ifndef __AP_CURVE_H__
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#define __AP_CURVE_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_HAL/AP_HAL.h>
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/// @class AP_Curve
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template <class T, uint8_t SIZE>
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class AP_Curve {
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public:
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// Constructor
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AP_Curve();
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// clear - removes all points from the curve
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void clear();
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// add_point - adds a point to the curve. returns TRUE if successfully added
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bool add_point( T x, T y );
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// get_y - returns the point on the curve at the given pwm_value (i.e. the new modified pwm_value)
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T get_y( T x );
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// displays the contents of the curve (for debugging)
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void dump_curve(AP_HAL::BetterStream*);
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protected:
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uint8_t _num_points; // number of points in the cruve
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T _x[SIZE]; // x values of each point on the curve
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T _y[SIZE]; // y values of each point on the curve
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float _slope[SIZE]; // slope between any two points. i.e. slope[0] is the slope between points 0 and 1
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bool _constrained; // if true, first and last points added will constrain the y values returned by get_y function
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};
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/* Typedefs for template instansations of AP_Curve.
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* Only use the AP_Curve instances listed here!
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* If you need a different one, you must first instantiate the template at the
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* end of AP_Curve.cpp, then add a typedef here. We can't leave the whole
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* template implementation in the header due to PSTR related issues.
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*/
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typedef AP_Curve<int16_t,3> AP_CurveInt16_Size3;
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typedef AP_Curve<int16_t,4> AP_CurveInt16_Size4;
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typedef AP_Curve<int16_t,5> AP_CurveInt16_Size5;
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typedef AP_Curve<uint16_t,3> AP_CurveUInt16_Size3;
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typedef AP_Curve<uint16_t,4> AP_CurveUInt16_Size4;
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typedef AP_Curve<uint16_t,5> AP_CurveUInt16_Size5;
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#endif // __AP_CURVE_H__
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