ardupilot/libraries/SITL/SIM_Tracker.h

60 lines
1.6 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
antenna-tracker simulator class
*/
#pragma once
#include "SIM_Aircraft.h"
namespace SITL {
/*
a antenna tracker simulator
*/
class Tracker : public Aircraft {
public:
using Aircraft::Aircraft;
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *frame_str) {
return new Tracker(frame_str);
}
private:
const bool onoff = false;
const float yawrate = 9.0f;
const float pitchrate = 1.0f;
const float pitch_range = 45;
const float yaw_range = 170;
const float zero_yaw = 270; // yaw direction at startup
const float zero_pitch = 10; // pitch at startup
uint64_t last_debug_us;
float pitch_input;
float yaw_input;
float yaw_current_relative;
float pitch_current_relative;
void update_position_servos(float delta_time, float &yaw_rate, float &pitch_rate);
void update_onoff_servos(float &yaw_rate, float &pitch_rate);
};
} // namespace SITL