mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.5 KiB
C++
56 lines
1.5 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/>.
|
|
*/
|
|
|
|
#include "RPM_SITL.h"
|
|
|
|
#if AP_RPM_SIM_ENABLED
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
/*
|
|
open the sensor in constructor
|
|
*/
|
|
AP_RPM_SITL::AP_RPM_SITL(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
|
|
AP_RPM_Backend(_ap_rpm, _instance, _state),
|
|
sitl(AP::sitl())
|
|
{
|
|
instance = _instance;
|
|
}
|
|
|
|
void AP_RPM_SITL::update(void)
|
|
{
|
|
if (sitl == nullptr) {
|
|
return;
|
|
}
|
|
const uint32_t motor_mask = sitl->state.motor_mask;
|
|
uint8_t count = 0;
|
|
// find the motor with the corresponding index
|
|
for (uint8_t i=0; i<32; i++) {
|
|
if (motor_mask & (1U<<i)) {
|
|
if (count == instance) {
|
|
state.rate_rpm = sitl->state.rpm[i];
|
|
break;
|
|
}
|
|
count++;
|
|
}
|
|
}
|
|
state.rate_rpm *= ap_rpm._params[state.instance].scaling;
|
|
state.signal_quality = 0.5f;
|
|
state.last_reading_ms = AP_HAL::millis();
|
|
|
|
}
|
|
|
|
#endif // AP_RPM_SIM_ENABLED
|